EX-106+ Dynamixel Servo Class. More...

#include <DynaServoEX106P.h>

Inheritance diagram for DynaServoEX106P:

Public Member Functions
	DynaServoEX106P (DynaComm &comm)
	Bare-bones initialization constructor. More...

	DynaServoEX106P (DynaComm &comm, int nServoId, uint_t uModelNum=DYNA_MODEL_NUM, uint_t uFwVer=DYNA_FWVER_NA)
	Initialization constructor. More...

virtual	~DynaServoEX106P ()
	Destructor.

virtual const DynaEX106PCfgExt_T &	GetConfigurationExt ()
	Get servo extended configuration. More...

virtual const DynaEX106PStateExt_T &	GetStateExt ()
	Get servo extended state. More...

virtual int	CfgReadDriveMode (bool pIsMaster, bool pIsNormal)
	Read from the servo configuration EEPROM the drive mode. More...

virtual int	CfgWriteDriveMode (bool bIsMaster, bool bIsNormal)
	Write to the servo configuration EEPROM the new drive mode. More...

virtual int	ReadSensedCurrent (uint_t pMilliAmps, uint_t pTorqueDir)
	Read from the servo configuration EEPROM the sensed current data. More...

virtual int	Read (uint_t uAddr, uint_t *pVal)

virtual int	Write (uint_t uAddr, uint_t uVal)

virtual int	SyncCfg ()
	Synchronize the shadowed configuration to the servo control table EEPROM configuration. More...

virtual int	SyncState ()
	Synchronize the shadowed state data to the servo control table RAM state. More...

virtual void	Dump ()
	Dump contents of the servo EEPROM and RAM control tables.

Public Member Functions inherited from DynaServoGeneric
	DynaServoGeneric (DynaComm &comm)
	Bare-bones initialization constructor. More...

	DynaServoGeneric (DynaComm &comm, int nServoId, uint_t uModelNum=DYNA_MODEL_NUM, uint_t uFwVer=DYNA_FWVER_NA)
	Initialization constructor. More...

virtual	~DynaServoGeneric ()
	Destructor.

virtual float	CvtRawTempToC (uint uTemp)
	Convert raw temperature coding to degrees Celsius. More...

virtual float	CvtRawVoltToVolts (uint uVolts)
	Convert raw volts coding to volts. More...

virtual int	AgentWriteGoalPos (int nGoalOdPos)
	Agent write to the servo state memory to set the new goal position. More...

virtual int	AgentWriteGoalSpeed (int nGoalSpeed)
	Agent write to the servo state memory to set the new goal speed. More...

virtual int	AgentWriteGoalSpeedPos (int nGoalSpeed, int nGoalOdPos)
	Agent write to the servo state memory to set the new goal position and speed. More...

virtual int	MoveTo (int nGoalOdPos)
	Move to the goal postition. More...

virtual int	MoveAtSpeedTo (int nGoalSpeed, int nGoalOdPos)
	Move at speed to the goal postition. More...

virtual int	MoveAtSpeed (int nGoalSpeed)
	Move at speed. More...

virtual int	EStop ()
	Emergency stop servo. More...

virtual int	Stop ()
	Stop servo. More...

virtual int	Freeze ()
	Freeze servo at current position. More...

virtual int	Release ()
	Release servo from any applied torque. More...

virtual int	CfgReadRotationLimits (uint_t pCwLim, uint_t pCcwLim)
	Read from the servo configuration EEPROM the current rotation limits. More...

virtual int	CfgWriteRotationLimits (uint_t uCwLim, uint_t uCcwLim)
	Write to the servo configuration EEPROM the new rotation limits. More...

virtual int	CfgReadTemperatureLimit (uint_t *pTempLim)
	Read from the servo configuration EEPROM the current maximum temperature limit. More...

virtual int	CfgWriteTemperatureLimit (uint_t uTempLim)
	Write to the servo configuration EEPROM the new maximum temperature limit. More...

virtual int	CfgReadVoltageLimits (uint_t pMinVoltLim, uint_t pMaxVoltLim)
	Read from the servo configuration EEPROM the current voltage limits. More...

virtual int	CfgWriteVoltageLimits (uint_t uMinVoltLim, uint_t uMaxVoltLim)
	Write to the servo configuration EEPROM the new voltage limits. More...

virtual int	CfgReadMaxTorqueLimit (uint_t *pMaxTorqueLim)
	Read from the servo configuration EEPROM the current on power-up maximum torque limit. More...

virtual int	CfgWriteMaxTorqueLimit (uint_t uMaxTorqueLim)
	Write to the servo configuration EEPROM the new on power-up maximum torque limit. More...

virtual int	CfgReadAlarmShutdownMask (uint_t *pAlarmMask)
	Read from the servo configuration EEPROM the current servo shutdown on alarms mask. More...

virtual int	CfgWriteAlarmShutdownMask (uint_t uAlarmMask)
	Write to the servo configuration EEPROM the new servo shutdown on alarms mask. More...

virtual int	CfgReadServoMode (uint_t *pServoMode)
	Read from the servo configuration EEPROM to determine the servo operational mode. More...

virtual int	CfgWriteServoMode (uint_t uCwLim, uint_t uCcwLim)
	Write to the servo configuration EEPROM to set the servo operational mode. More...

virtual int	CfgWriteServoModeContinuous ()
	Write to the servo configuration EEPROM to set the servo operational mode to the full/continuous mode. More...

virtual int	ReadTorqueEnable (bool *pState)
	Read from the servo state memory the current torque enable value. More...

virtual int	WriteTorqueEnable (bool bState)
	Write to the servo state memory to set the new torque enable value. More...

virtual int	ReadLed (bool *pState)
	Read from the servo state memory the current LED on/off value. More...

virtual int	WriteLed (bool bState)
	Write to the servo state memory to turn on or off the servo LED. More...

virtual int	ReadControlMethod (DynaServoCtlMethod_T *pCtlMethod)
	Read from the servo state memory the current control method parameters. More...

virtual int	WriteControlMethod (DynaServoCtlMethod_T &ctlMethod)
	Write to the servo state memory the new control method parameters. More...

virtual int	ReadGoalPos (int *pGoalPos)
	Read from the servo state memory the current goal position. More...

virtual int	WriteGoalPos (int nGoalOdPos)
	Write to the servo state memory to set the new goal position. More...

virtual int	ReadGoalSpeed (int *pGoalSpeed)
	Read from the servo state memory the current goal speed and direction. More...

virtual int	WriteGoalSpeed (int nGoalSpeed)
	Write to the servo state memory the new goal speed and direction. More...

virtual int	ReadMaxTorqueLimit (uint_t *pMaxTorqueLim)
	Read from the servo state memory the current maximum torque limit. More...

virtual int	WriteMaxTorqueLimit (uint_t uMaxTorqueLim)
	Write to the servo state memory to set the new maximum torque limit. More...

virtual int	ReloadMaxTorqueLimit ()
	Reload the maximum torque limit from the configuration. More...

virtual int	ReadCurPos (int *pCurOdPos)
	Read from the servo state memory the current servo position. More...

virtual int	ReadCurSpeed (int *pCurSpeed)
	Read from the servo state memory the current speed and direction. More...

virtual int	ReadCurLoad (int *pCurLoad)
	Read from the servo state memory the current load. More...

virtual int	ReadDynamics (int pCurPos, int pCurSpeed, int *pCurLoad)
	Read from the servo state memory the current servo dynamics. More...

virtual int	ReadHealth (uint_t pAlarms, int pCurLoad, uint_t pCurVolt, uint_t pCurTemp)
	Read from the servo state memory the current servo health. More...

virtual int	ReadIsMoving (bool *pState)
	Read from the servo state memory to test if the servo is currently moving. More...

virtual bool	Ping ()
	Ping this servo. More...

virtual int	Reset ()
	Reset this servo back to default values. More...

virtual int	SyncData ()
	Synchronize the shadowed configuration and state data to the servo control table. More...

Public Member Functions inherited from DynaServo
	DynaServo (DynaComm &comm, int nServoId, uint_t uModelNum, uint_t uFwVer)
	Default initialization constructor. More...

virtual	~DynaServo ()
	Destructor.

virtual uint_t	GetModelNumber () const
	Get servo model number. More...

virtual uint_t	GetFirmwareVersion () const
	Get servo firmware version. More...

virtual const char *	GetModelName () const
	Get servo model name string. More...

virtual uint_t	GetServoId () const
	Get servo id. More...

virtual uint_t	GetServoMode () const
	Get the servo operational mode. More...

virtual uint_t	Has360PosInfo () const
	Test if servo has 360 ° positioning information. More...

virtual const DynaServoSpec_T &	GetSpecification () const
	Get servo specification. More...

virtual const DynaServoCfg_T &	GetConfiguration () const
	Get servo configuration. More...

virtual const DynaServoState_T &	GetState () const
	Get servo state. More...

bool	IsMaster () const
	Test if this servo is a master. More...

bool	IsLinkedMaster () const
	Test if this servo is a linked master. More...

bool	IsUnlinked () const
	Test if this servo is unlinked. More...

virtual const DynaServoLink_T	GetLinkInfo () const
	Get linked information. More...

virtual void	Link (uint_t uLinkType, DynaServo *pServoMate, bool bRotReversed)
	Link this servo to another. More...

virtual void	Unlink ()
	Unlink this servo.

int	GetOdometer ()
	Get the current virtual odometer value. More...

int	IsOdometerEnabled ()
	Test if virtual odometer mapping is enabled. More...

int	GetOdometerZeroPt ()
	Get the virtual odometer zero point. More...

bool	IsOdometerReversed ()
	Test if the virtual odometer is reversed. More...

int	CalcOdometerAtEncMin ()
	Calculate the odometer value at the minimum (zero) encoder value. More...

int	CalcOdometerAtEncMax ()
	Calculate the odometer value at the maximum encoder value. More...

int	OdometerToEncoder (int nOdPos)
	Convert virtual odometer units to servo encoder units. More...

int	CalcSpeedDir (int nOdGoalPos)
	Calculate serve direction to goal odometer position. More...

virtual int	ResetOdometer (int nEncZeroPt, bool bIsReverse)
	Reset the servo's virtual odometer. More...

virtual int	UpdateOdometer (int nEncCurPos)
	Update the odometer from the current servo position and rotation direction. More...

virtual void	DisableOdometer ()
	Disable odometer mapping. More...

virtual uint_t	GetAlarms () const
	Get the current servo alarms. More...

virtual uint_t	GetCurPos () const
	Get the current servo position. More...

virtual int	GetCurSpeed () const
	Get the current servo speed. More...

virtual int	GetGoalSpeed () const
	Get the goal servo speed. More...

virtual int	GetCurLoad () const
	Get the current servo load. More...

virtual uint_t	GetCurTemp () const
	Get the current temperature. More...

virtual uint_t	GetCurVolt () const
	Get the current voltage. More...

virtual void	SetSoftTorqueThresholds (uint_t uOverTorqueTh, uint_t uClearTorqueTh)
	Set soft torque thresholds. More...

virtual void	GetSoftTorqueThresholds (uint_t &uOverTorqueTh, uint_t &uClearTorqueTh)
	Get soft torque thresholds. More...

virtual void	SetSoftTorqueOverCond (bool bNewCond)
	Set or clear servo in soft over torque condition. More...

virtual bool	HasSoftTorqueOverCond ()
	Test if servo is in a soft over torque condition. More...

virtual void	RegisterAgent (DynaAgent_T pAgent, void pAgentArg)
	Register servo proxy agent. More...

virtual void	UnregisterAgent ()
	Unregister servo proxy agent.

virtual bool	HasAgent ()
	Tests if servo has a registered agent. More...

Static Public Attributes
static const int	DYNA_MODEL_NUM = DYNA_MODEL_NUM_EX106P

Static Public Attributes inherited from DynaServoGeneric
static const int	DYNA_MODEL_NUM = DYNA_MODEL_NUM_GENERIC

Protected Member Functions
void	Init (int nServoid, uint_t uFwVer)
	Initialize servo class instance. More...

void	InitSpec ()
	Initialize servo fixed specification data.

void	InitCfg ()
	Initialize servo configuration data.

void	InitState ()
	Initialize servo state data.

uint_t	PackDriveMode (bool bIsMaster, bool bIsNormal)
	Pack drive mode. More...

int	UnpackDriveMode (uint_t uVal, bool pIsMaster, bool pIsNormal)
	Unpack drive mode. More...

int	UnpackSensedCurrent (uint_t uVal, uint_t pMilliAmps, uint_t pTorqueDir)
	Unpack sensed current. More...

Protected Member Functions inherited from DynaServoGeneric
void	Init ()
	Initialize servo class instance.

void	InitSpec ()
	Initialize servo fixed specification data.

void	InitCfg ()
	Initialize servo configuration data.

void	InitState ()
	Initialize servo state data.

virtual void	CheckData ()
	Check data for consitencies. More...

void	SetServoMode ()
	Set the servo mode given the servo capabilites and the current rotation limits. More...

virtual int	CalcMatesGoalPos (int nGoalOdPos, int *pGoalOdPosMate)
	Calculate the linked mate's goal position given this servo's goal position. More...

virtual int	CalcMatesGoalSpeed (int nGoalSpeed)
	Calculate the linked mate's speed speed given this servo's goal speed. More...

virtual int	ReadCtlMethodCompliance (DynaServoCtlMethod_T *pCtlMethod)
	Read from the servo state memory the current compliance control method parameters. More...

virtual int	WriteCtlMethodCompliance (DynaServoCtlMethod_T &ctlMethod)
	Write to the servo state memory the new compliance control method parameters. More...

virtual int	ReadCtlMethodPid (DynaServoCtlMethod_T *pCtlMethod)
	Read from the servo state memory the current PID control method parameters. More...

virtual int	WriteCtlMethodPid (DynaServoCtlMethod_T &ctlMethod)
	Write to the servo state memory the new PID control method parameters. More...

virtual bool	ChkComplianceSlope (uint_t uVal)
	Check validity of compliance slope discrete values. More...

virtual uint_t	PackGoalSpeed (int nGoalSpeed)
	Pack the goal speed into the control table value. More...

virtual int	UnpackGoalSpeed (uint_t uVal)
	Unpack goal speed from the control table value. More...

virtual int	UnpackCurSpeed (uint_t uVal)
	Unpack current speed from the control table value. More...

virtual int	UnpackCurLoad (uint_t uVal)
	Unpack current load estimate from the control table value. More...

Protected Member Functions inherited from DynaServo
void	Init (int nServoId, uint_t uModelNum, uint_t uFwVer)
	Initialize servo class instance. More...

void	DumpCtlTbl (const char *sTblName, const DynaCtlTblEntry_T tblInfo[], size_t uSize)
	Dump the servo control tabl values to stdout. More...

Protected Attributes
DynaEX106PCfgExt_T	m_cfgExt
	configuration extension data

DynaEX106PStateExt_T	m_stateExt
	state extension data

Protected Attributes inherited from DynaServo
DynaComm &	m_comm
	attached Dynamixel bus comm. object

int	m_nServoId
	servo id

DynaServoSpec_T	m_spec
	servo specification

DynaServoCfg_T	m_cfg
	servo shadowed EEPROM configuration

DynaServoState_T	m_state
	servo shadowed RAM state

CrossLink_T	m_link
	servo cross linkage

DynaAgent_T *	m_pAgent
	servo agent

void *	m_pAgentArg
	servo agent callback argument

int	m_nErrorCode
	class instance errored state

Additional Inherited Members
Static Public Member Functions inherited from DynaServo
static DynaServo *	New (DynaComm &comm, int nServoId)
	Archetype constructor to create a new Dynamixel servo instance. More...

static int	ReadModelNumber (DynaComm &comm, int nServoId, uint_t *pModelNum)
	Read the servo model number from the servo's EEPROM. More...

static int	ReadFirmwareVersion (DynaComm &comm, int nServoId, uint_t *pFwVer)
	Read the servo's firmware version from the servo's EEPROM. More...

static int	ReadServoId (DynaComm &comm, int nServoId, int *pServoId)
	Read the servo's id from the servo's EEPROM. More...

static int	WriteServoId (DynaComm &comm, int nServoId, int nNewServoId)
	Write the new servo id to the servo's EEPROM. More...

static int	ReadBaudRate (DynaComm &comm, int nServoId, int *pBaudRate)
	Read the servo's baud rate from the servo's EEPROM. More...

static int	WriteBaudRate (DynaComm &comm, int nServoId, int nNewBaudRate)
	Write the new baud rate to the servo's EEPROM. More...

static bool	Ping (DynaComm &comm, int nServoId)
	Ping the given servo. More...

static int	Reset (DynaComm &comm, int nServoId)
	Reset the given servo back to default values. More...

Detailed Description

EX-106+ Dynamixel Servo Class.

The DynaServoEX106P class provides the specific interface to the EX-106+ Dynamixel servos

Definition at line 111 of file DynaServoEX106P.h.

Constructor & Destructor Documentation

DynaServoEX106P::DynaServoEX106P ( DynaComm & comm )

inline

Bare-bones initialization constructor.

May be used be derived classes to avoid undue communication and initializaton overhead.

Parameters

comm	Dynamixel bus communication instance.

Definition at line 126 of file DynaServoEX106P.h.

References DYNA_FWVER_NA, and ~DynaServoEX106P().

                                   : DynaServoGeneric(comm)
   {
   }

DynaServoEX106P::DynaServoEX106P	(	DynaComm &	comm,
		int	nServoId,
		uint_t	uModelNum = `DYNA_MODEL_NUM`,
		uint_t	uFwVer = `DYNA_FWVER_NA`
	)

Initialization constructor.

Parameters

comm	Dynamixel bus communication instance.
nServoId	Servo Id.
uModelNum	Servo model number.
uFwVer	Servo firmware version.

Definition at line 134 of file DynaServoEX106P.cxx.

References DynaServoGeneric::CheckData(), DynaServoGeneric::Init(), and DynaServoGeneric::SyncData().

                                                  : 
                   DynaServoGeneric(comm)
 {
   Init(nServoId, uFwVer); // this class
   SyncData();             // this class
   CheckData();            // this class
 }

Member Function Documentation

int DynaServoEX106P::CfgReadDriveMode	(	bool *	pIsMaster,
		bool *	pIsNormal
	)

virtual

Read from the servo configuration EEPROM the drive mode.

If this servo is the master in a linked pair of servos, both servos' configuration data are read.

Note: Drive mode requires the paired EX-106+'s to be connected via the synchronization cable.

Control Table:: dyna_ex106p_memmap_drive_mode.

Parameters

[out]	pIsMaster	This servo is [not] the master.
[out]	pIsNormal	Servos [don't] rotate in same directions.

Returns: On success, DYNA_OK is returned.
On error, the appropriate < 0 negated Dynamixel Error Code is returned.

Definition at line 154 of file DynaServoEX106P.cxx.

References CfgReadDriveMode(), DYNA_EX106P_ADDR_DRIVE_MODE, DYNA_OK, DYNA_TRY_COMM, DynaServo::IsLinkedMaster(), DynaEX106PCfgExt_T::m_bDriveModeIsMaster, DynaEX106PCfgExt_T::m_bDriveModeIsNormal, m_cfgExt, DynaServo::m_comm, DynaServo::m_link, DynaServo::m_nServoId, DynaServo::CrossLink_T::m_pServoMate, DynaComm::Read8(), and UnpackDriveMode().

Referenced by CfgReadDriveMode(), GetStateExt(), and SyncCfg().

 {
   uint_t            uVal;           // working value
   bool              bVal1, bVal2;   // working booleans
   DynaServoEX106P  *pServoMate;     // servo mate
   int               rc;             // return code
 
   DYNA_TRY_COMM(m_comm);
 
   rc = m_comm.Read8(m_nServoId, DYNA_EX106P_ADDR_DRIVE_MODE, &uVal);
 
   if( rc == DYNA_OK )
   {
     UnpackDriveMode(uVal, &m_cfgExt.m_bDriveModeIsMaster,
                           &m_cfgExt.m_bDriveModeIsNormal);
 
     *pIsMaster  = m_cfgExt.m_bDriveModeIsMaster;
     *pIsNormal  = m_cfgExt.m_bDriveModeIsNormal;
 
     if( IsLinkedMaster() )
     {
       pServoMate = (DynaServoEX106P *)(m_link.m_pServoMate);
 
       rc = pServoMate->CfgReadDriveMode(&bVal1, &bVal2);
     }
   }
 
   return rc;
 }

int DynaServoEX106P::CfgWriteDriveMode	(	bool	bIsMaster,
		bool	bIsNormal
	)

virtual

Write to the servo configuration EEPROM the new drive mode.

If this servo is the master in a linked pair of servos, both servos' configuration data are written appropriately.

Note: Drive mode requires the paired EX-106+'s to be connected via the synchronization cable.

Control Table:: dyna_ex106p_memmap_drive_mode.

Parameters

pIsMaster	This servo is [not] the master.
pIsNormal	Servos [don't] rotate in same directions.

Returns: On success, DYNA_OK is returned.
On error, the appropriate < 0 negated Dynamixel Error Code is returned.

Definition at line 184 of file DynaServoEX106P.cxx.

References DYNA_ECODE_BAD_VAL, DYNA_EX106P_ADDR_DRIVE_MODE, DYNA_OK, DYNA_TRY_COMM, DYNA_TRY_EXPR, DYNA_TRY_IS_MASTER, DynaServo::GetServoId(), DynaServo::IsLinkedMaster(), DynaEX106PCfgExt_T::m_bDriveModeIsMaster, DynaEX106PCfgExt_T::m_bDriveModeIsNormal, m_cfgExt, DynaServo::m_comm, DynaServo::m_link, DynaServo::m_nServoId, DynaServo::CrossLink_T::m_pServoMate, PackDriveMode(), DynaComm::vSyncWrite(), and DynaComm::Write8().

Referenced by GetStateExt().

 {
   uint_t            uVal1, uVal2;   // working values
   DynaServoEX106P  *pServoMate;     // servo mate
   int               rc;             // return code
 
   DYNA_TRY_COMM(m_comm);
   DYNA_TRY_IS_MASTER(this);
 
   uVal1 = PackDriveMode(bIsMaster, bIsNormal);
 
   //
   // Linked pair
   //
   if( IsLinkedMaster() )
   {
     DYNA_TRY_EXPR((bIsMaster), DYNA_ECODE_BAD_VAL,
       "Linked master servo %d: Drive mode must also be master.", m_nServoId);
 
     pServoMate = (DynaServoEX106P *)(m_link.m_pServoMate);
 
     uVal2 = PackDriveMode(false, bIsNormal);
 
     rc = m_comm.vSyncWrite(DYNA_EX106P_ADDR_DRIVE_MODE, 1, 2,
                         m_nServoId, uVal1,
                         pServoMate->GetServoId(), uVal2);
 
     if( rc == DYNA_OK )
     {
       m_cfgExt.m_bDriveModeIsMaster = true;
       m_cfgExt.m_bDriveModeIsNormal = bIsNormal;
 
       pServoMate->m_cfgExt.m_bDriveModeIsMaster = false;
       pServoMate->m_cfgExt.m_bDriveModeIsNormal = bIsNormal;
     }
   }
 
   //
   // Solitary servo
   //
   else
   {
     rc = m_comm.Write8(m_nServoId, DYNA_EX106P_ADDR_DRIVE_MODE, uVal1);
 
     if( rc == DYNA_OK )
     {
       m_cfgExt.m_bDriveModeIsMaster = bIsMaster;
       m_cfgExt.m_bDriveModeIsNormal = bIsNormal;
     }
   }
 
   return rc;
 }

virtual const DynaEX106PCfgExt_T& DynaServoEX106P::GetConfigurationExt ( )

inlinevirtual

Get servo extended configuration.

Returns: Reference to shadowed configuration extension data.

Definition at line 158 of file DynaServoEX106P.h.

References m_cfgExt.

   {
     return m_cfgExt;
   }

virtual const DynaEX106PStateExt_T& DynaServoEX106P::GetStateExt ( )

inlinevirtual

Get servo extended state.

Returns: Reference to shadowed state extension data.

Definition at line 168 of file DynaServoEX106P.h.

References CfgReadDriveMode(), CfgWriteDriveMode(), Dump(), m_stateExt, Read(), ReadSensedCurrent(), SyncCfg(), SyncState(), and Write().

   {
     return m_stateExt;
   }

void DynaServoEX106P::Init	(	int	nServoid,
		uint_t	uFwVer
	)

protected

Initialize servo class instance.

Parameters

nServoId	Servo Id.
uFwVer	Servo firmware version.

Definition at line 344 of file DynaServoEX106P.cxx.

References DYNA_MODEL_NUM, DynaServo::Init(), InitCfg(), InitSpec(), and InitState().

 {
   DynaServo::Init(nServoId, DYNA_MODEL_NUM, uFwVer);
 
   InitSpec();   // this class
   InitCfg();    // this class
   InitState();  // this class
 }

uint_t DynaServoEX106P::PackDriveMode	(	bool	bIsMaster,
		bool	bIsNormal
	)

protected

Pack drive mode.

Parameters

bIsMaster	This servo is [not] the master.
bIsNormal	Servos [don't] rotate in same directions.

Returns: Returns packed value.

Definition at line 413 of file DynaServoEX106P.cxx.

References DYNA_EX106P_DRIVE_MODE_MS_MASTER, DYNA_EX106P_DRIVE_MODE_MS_SLAVE, DYNA_EX106P_DRIVE_MODE_NR_NORM, and DYNA_EX106P_DRIVE_MODE_NR_REV.

Referenced by CfgWriteDriveMode().

 {
   uint_t  uVal;
 
   uVal = bIsMaster? DYNA_EX106P_DRIVE_MODE_MS_MASTER:
                     DYNA_EX106P_DRIVE_MODE_MS_SLAVE;
 
   uVal |= bIsNormal?  DYNA_EX106P_DRIVE_MODE_NR_NORM:
                       DYNA_EX106P_DRIVE_MODE_NR_REV;
 
   return uVal;
 }

int DynaServoEX106P::Read	(	uint_t	uAddr,
		uint_t *	pVal
	)

virtual

Read a raw value from the servo EEPROM/RAM control table.

Warning: The shadowed configuration and state data are not update.
Linked servos are not kept in sync.

Parameters

	uAddr	Control table address.
[out]	pVal	Read raw value.

doc_return_std

Reimplemented from DynaServoGeneric.

Definition at line 267 of file DynaServoEX106P.cxx.

References DYNA_EX106P_ADDR_CURRENT_LSB, DYNA_EX106P_ADDR_DRIVE_MODE, DYNA_TRY_ADDR, DYNA_TRY_COMM, DynaServo::m_comm, DynaServo::m_nServoId, DynaServoGeneric::Read(), DynaComm::Read16(), and DynaComm::Read8().

Referenced by GetStateExt().

 {
   DYNA_TRY_COMM(m_comm);
   DYNA_TRY_ADDR(uAddr);
 
   switch( uAddr )
   {
     case DYNA_EX106P_ADDR_CURRENT_LSB:
       return m_comm.Read16(m_nServoId, uAddr, pVal);
 
     case DYNA_EX106P_ADDR_DRIVE_MODE:
       return m_comm.Read8(m_nServoId, uAddr, pVal);
 
     default:
       return DynaServoGeneric::Read(uAddr, pVal);
   }
 }

int DynaServoEX106P::ReadSensedCurrent	(	uint_t *	pMilliAmps,
		uint_t *	pTorqueDir
	)

virtual

Read from the servo configuration EEPROM the sensed current data.

If this servo is the master in a linked pair of servos, both servos' configuration data are read.

Control Table:: dyna_ex106p_memmap_drive_mode.

Parameters

[out]	pMillAmps	Sensed mAmps.
[out]	pTorqueDir	Sensed applied torque direction.

Returns: On success, DYNA_OK is returned.
On error, the appropriate < 0 negated Dynamixel Error Code is returned.

Definition at line 238 of file DynaServoEX106P.cxx.

References DYNA_EX106P_ADDR_CURRENT_LSB, DYNA_OK, DYNA_TRY_COMM, DynaServo::IsLinkedMaster(), DynaServo::m_comm, DynaServo::m_link, DynaServo::m_nServoId, DynaServo::CrossLink_T::m_pServoMate, m_stateExt, DynaEX106PStateExt_T::m_uSensedCurrentMilliAmps, DynaEX106PStateExt_T::m_uSensedCurrentTorqueDir, DynaComm::Read16(), ReadSensedCurrent(), and UnpackSensedCurrent().

Referenced by GetStateExt(), ReadSensedCurrent(), and SyncState().

 {
   uint_t            uVal1, uVal2;   // working values
   DynaServoEX106P  *pServoMate;     // servo mate
   int               rc;             // return code
 
   DYNA_TRY_COMM(m_comm);
 
   rc = m_comm.Read16(m_nServoId, DYNA_EX106P_ADDR_CURRENT_LSB, &uVal1);
 
   if( rc == DYNA_OK )
   {
     UnpackSensedCurrent(uVal1, &m_stateExt.m_uSensedCurrentMilliAmps,
                                &m_stateExt.m_uSensedCurrentTorqueDir);
 
     *pMilliAmps  = m_stateExt.m_uSensedCurrentMilliAmps;
     *pTorqueDir  = m_stateExt.m_uSensedCurrentTorqueDir;
 
     if( IsLinkedMaster() )
     {
       pServoMate = (DynaServoEX106P *)(m_link.m_pServoMate);
 
       rc = pServoMate->ReadSensedCurrent(&uVal1, &uVal2);
     }
   }
 
   return rc;
 }

int DynaServoEX106P::SyncCfg ( )

virtual

Synchronize the shadowed configuration to the servo control table EEPROM configuration.

Returns: On success, DYNA_OK is returned.
On error, the appropriate < 0 negated Dynamixel Error Code is returned.

Reimplemented from DynaServoGeneric.

Definition at line 303 of file DynaServoEX106P.cxx.

References CfgReadDriveMode(), DYNA_OK, DYNA_TRY_COMM, DynaServo::m_comm, and DynaServoGeneric::SyncCfg().

Referenced by GetStateExt().

 {
   bool    bVal1, bVal2;   // working booleans
 
   DYNA_TRY_COMM(m_comm);
 
   DynaServoGeneric::SyncCfg();
 
   CfgReadDriveMode(&bVal1, &bVal2);
 
   return DYNA_OK;
 }

int DynaServoEX106P::SyncState ( )

virtual

Synchronize the shadowed state data to the servo control table RAM state.

Returns: On success, DYNA_OK is returned.
On error, the appropriate < 0 negated Dynamixel Error Code is returned.

Reimplemented from DynaServoGeneric.

Definition at line 316 of file DynaServoEX106P.cxx.

References DYNA_OK, DYNA_TRY_COMM, DynaServo::m_comm, ReadSensedCurrent(), and DynaServoGeneric::SyncState().

Referenced by GetStateExt().

 {
   uint_t  uVal1, uVal2;   // working values
   
   DYNA_TRY_COMM(m_comm);
 
   DynaServoGeneric::SyncState();
 
   ReadSensedCurrent(&uVal1, &uVal2);
 
   return DYNA_OK;
 }

int DynaServoEX106P::UnpackDriveMode	(	uint_t	uVal,
		bool *	pIsMaster,
		bool *	pIsNormal
	)

protected

Unpack drive mode.

Parameters

	uVal	Packed field.
[out]	pIsMaster	This servo is [not] the master).
[out]	pIsNormal	Servos [don't] rotate in same directions.

Returns: On success, DYNA_OK is returned.
On error, the appropriate < 0 negated Dynamixel Error Code is returned.

Definition at line 426 of file DynaServoEX106P.cxx.

References DYNA_EX106P_DRIVE_MODE_MS_SLAVE, DYNA_EX106P_DRIVE_MODE_NR_REV, and DYNA_OK.

Referenced by CfgReadDriveMode().

 {
   *pIsMaster = uVal & DYNA_EX106P_DRIVE_MODE_MS_SLAVE? false: true;
 
   *pIsNormal = uVal & DYNA_EX106P_DRIVE_MODE_NR_REV? false: true;
 
   return DYNA_OK;
 }

int DynaServoEX106P::UnpackSensedCurrent	(	uint_t	uVal,
		uint_t *	pMilliAmps,
		uint_t *	pTorqueDir
	)

protected

Unpack sensed current.

Parameters

	uVal	Packed field.
[out]	pMilliAmps	Sensed mAmps.
[out]	pTorqueDir	Sensed torque direction. See Dynamixel Direction Common Values.

Returns: On success, DYNA_OK is returned.
On error, the appropriate < 0 negated Dynamixel Error Code is returned.

Definition at line 437 of file DynaServoEX106P.cxx.

References DYNA_EX106P_CURRENT_M_AMP, DYNA_EX106P_CURRENT_RES_M_AMP, DYNA_EX106P_CURRENT_TORQUE_DIR, and DYNA_OK.

Referenced by ReadSensedCurrent().

 {
   *pMilliAmps = DYNA_EX106P_CURRENT_M_AMP(uVal) * DYNA_EX106P_CURRENT_RES_M_AMP;
 
   *pTorqueDir = DYNA_EX106P_CURRENT_TORQUE_DIR(uVal);
 
   return DYNA_OK;
 }

int DynaServoEX106P::Write	(	uint_t	uAddr,
		uint_t	uVal
	)

virtual

Write a raw value to the servo EEPROM/RAM control table.

Warning: The shadowed configuration and state data are not updated and will hence be out of sync.; Any linked master-slave servos may get out of sync and may result in physical damage.

Parameters

uAddr	Control table address.
uVal	Raw value to write.

doc_return_std

Reimplemented from DynaServoGeneric.

Definition at line 285 of file DynaServoEX106P.cxx.

References DYNA_EX106P_ADDR_CURRENT_LSB, DYNA_EX106P_ADDR_DRIVE_MODE, DYNA_TRY_ADDR, DYNA_TRY_COMM, DynaServo::m_comm, DynaServo::m_nServoId, DynaServoGeneric::Write(), DynaComm::Write16(), and DynaComm::Write8().

Referenced by GetStateExt().

 {
   DYNA_TRY_COMM(m_comm);
   DYNA_TRY_ADDR(uAddr);
 
   switch( uAddr )
   {
     case DYNA_EX106P_ADDR_CURRENT_LSB:
       return m_comm.Write16(m_nServoId, uAddr, uVal);
 
     case DYNA_EX106P_ADDR_DRIVE_MODE:
       return m_comm.Write8(m_nServoId, uAddr, uVal);
 
     default:
       return DynaServoGeneric::Write(uAddr, uVal);
   }
 }

Member Data Documentation

const int DynaServoEX106P::DYNA_MODEL_NUM = DYNA_MODEL_NUM_EX106P

static

modem number

Definition at line 115 of file DynaServoEX106P.h.

Referenced by Init(), and DynaServo::New().

The documentation for this class was generated from the following files:

include/Dynamixel/DynaServoEX106P.h
libDynamixel/DynaServoEX106P.cxx

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation