dxl.h File Reference

Modified dynamixel SDK interface. More...

#include <sys/types.h>
#include <stdint.h>
#include <string>

Go to the source code of this file.

Classes
class	libdxl::dxl

Macros
#define	DXL_BAUDNUM_1000000   (1)
	1,000,000 bps at 0.0% tolerance
#define	DXL_BAUDNUM_500000   (3)
	500,000 bps at 0.0% tolerance
#define	DXL_BAUDNUM_400000   (4)
	500,000 bps at 0.0% tolerance
#define	DXL_BAUDNUM_250000   (7)
	250,000 bps at 0.0% tolerance
#define	DXL_BAUDNUM_200000   (9)
	200,000 bps at 0.0% tolerance
#define	DXL_BAUDNUM_115200   (16)
	115,200 bps at -2.124% tolerance
#define	DXL_BAUDNUM_57600   (34)
	57,600 bps at 0.794 % tolerance
#define	DXL_BAUDNUM_19200   (103)
	19,200 bps at -0.160% tolerance
#define	DXL_BAUDNUM_9600   (207)
	9,600 bps at -0.160% tolerance
#define	DXL_BAUDNUM_EXT_2250000   (250)
	2,250,000 bps at 0.0% tolerance
#define	DXL_BAUDNUM_EXT_2500000   (251)
	2,500,000 bps at 0.0% tolerance
#define	DXL_BAUDNUM_EXT_3000000   (252)
	3,000,000 bps at 0.0% tolerance
#define	DXL_DEFAULT_BAUDNUMBER   (34)
	default baud number
#define	DXL_ID   (2)
	servo id field packet index
#define	DXL_LENGTH   (3)
	packet length field packet index
#define	DXL_INSTRUCTION   (4)
	instruction field packet index
#define	DXL_ERRBIT   (4)
	error bits field packet index
#define	DXL_PARAMETER   (5)
	start of parameter fields packet index
#define	DXL_MAXNUM_TXPARAM   (150)
	maximum number of tx parameters
#define	DXL_MAXNUM_RXPARAM   (60)
	maximum number of rx parameters
#define	DXL_INST_PING   (1)
	ping servo
#define	DXL_INST_READ   (2)
	read servo control table data
#define	DXL_INST_WRITE   (3)
	write servo control table data
#define	DXL_INST_REG_WRITE   (4)
	register write
#define	DXL_INST_ACTION   (5)
	action
#define	DXL_INST_RESET   (6)
	reset servo defaults
#define	DXL_INST_SYNC_WRITE   (131)
	synchronous write servo(s) data
#define	DXL_MIN_ID   (0)
	minimum servo id
#define	DXL_MAX_ID   (253)
	maximum servo id
#define	DXL_BROADCAST_ID   (254)
	broadcast "servo" id
#define	DXL_ERRBIT_VOLTAGE   (1)
	voltage out-of-range error
#define	DXL_ERRBIT_ANGLE   (2)
	servo angle out-of-range error
#define	DXL_ERRBIT_OVERHEAT   (4)
	temperature out-of-range error
#define	DXL_ERRBIT_RANGE   (8)
	parameter? out-of-range error
#define	DXL_ERRBIT_CHECKSUM   (16)
	bad checksum error
#define	DXL_ERRBIT_OVERLOAD   (32)
	load out-of-range error
#define	DXL_ERRBIT_INSTRUCTION   (64)
	bad instruction error
#define	DXL_COMM_TXSUCCESS   (0)
	transmit success
#define	DXL_COMM_RXSUCCESS   (1)
	receive success
#define	DXL_COMM_TXFAIL   (2)
	transmit failure error
#define	DXL_COMM_RXFAIL   (3)
	receive failure error
#define	DXL_COMM_TXERROR   (4)
	packed transmit packet format error
#define	DXL_COMM_RXWAITING   (5)
	waiting for complete receive packet
#define	DXL_COMM_RXTIMEOUT   (6)
	receive timeout error
#define	DXL_COMM_RXCORRUPT   (7)
	receive corrupted packet

Typedefs
typedef void(*	libdxl::dxl_hdctl_tx_cb_t) (void *arg)
	half-duplex control transmit callback type. More...
typedef void(*	libdxl::dxl_hdctl_rx_cb_t) (void *arg, size_t txlen)
	half-duplex control receive callback type. More...

Detailed Description

Modified dynamixel SDK interface.

Based on Robotis Inc. dxl_sdk-1.01

Author

Robotis

Robin Knight (robin.nosp@m..kni.nosp@m.ght@r.nosp@m.oadn.nosp@m.arrow.nosp@m.s.co.nosp@m.m)

Definition in file dxl.h.

Typedef Documentation

typedef void(* libdxl::dxl_hdctl_rx_cb_t) (void *arg, size_t txlen)

half-duplex control receive callback type.

Parameters

arg	Callback user argument.
arg	Transmit packet length.

Definition at line 130 of file dxl.h.

typedef void(* libdxl::dxl_hdctl_tx_cb_t) (void *arg)

half-duplex control transmit callback type.

Parameters

arg	Callback user argument.

Definition at line 122 of file dxl.h.