dynashell_cmd_servo.cxx File Reference

The Dynamixel Shell Servo Derived Commands. More...

#include <cstring>
#include <iostream>
#include <fstream>
#include <string>
#include <vector>
#include "rnr/rnrconfig.h"
#include "rnr/log.h"
#include "Dynamixel/Dynamixel.h"
#include "Dynamixel/DynaComm.h"
#include "Dynamixel/DynaChain.h"
#include "dynashell.h"
#include "dynashell_cmd.h"
#include "dynashell_util.h"

Go to the source code of this file.

Classes
class	DynaShellCmdMoveTo
	Determine if servos are moving. More...
class	DynaShellCmdMoveAtSpeedTo
	Determine if servos are moving. More...
class	DynaShellCmdEStop
	Emergency stop command. More...
class	DynaShellCmdStop
	Stop servo(s) command. More...
class	DynaShellCmdFreeze
	Freeze command. More...
class	DynaShellCmdRelease
	Release command. More...
class	DynaShellCmdGetOdometer
	Read servos goal positions. More...
class	DynaShellCmdSetOdometer
	Determine if servos are moving. More...
class	DynaShellCmdCfgWriteServoMode
	Write EEPROM configuration to put servos into the given modes. More...
class	DynaShellCmdReadTorqueEnable
	Read servos goal positions. More...
class	DynaShellCmdWriteTorqueEnable
	Determine if servos are moving. More...
class	DynaShellCmdReadGoalPos
	Read servos goal positions. More...
class	DynaShellCmdReadGoalSpeed
	Read servos goal positions. More...
class	DynaShellCmdWriteGoalSpeed
	Determine if servos are moving. More...
class	DynaShellCmdReadMaxTorqueLimit
	Read servos on power-up or run-time maximum torque limits. More...
class	DynaShellCmdWriteMaxTorqueLimit
	Write servos on power-up or run-time maximum torque limits. More...
class	DynaShellCmdGetSoftTorqueTh
	Read servos goal positions. More...
class	DynaShellCmdSetSoftTorqueTh
	Determine if servos are moving. More...
class	DynaShellCmdReadCurPos
	Read servos current positions. More...
class	DynaShellCmdReadCurSpeed
	Read servos current positions. More...
class	DynaShellCmdReadDynamics
	Read servos goal positions. More...
class	DynaShellCmdReadHealth
	Read servos goal positions. More...
class	DynaShellCmdReadIsMoving
	Determine if servos are moving. More...
class	DynaShellCmdClearAlarms
	Determine if servos are moving. More...
class	DynaShellCmdReadByte
	Read servo byte value at address. More...
class	DynaShellCmdWriteByte
	Write byte value to servo at address. More...
class	DynaShellCmdReadWord
	Read servo byte value at address. More...
class	DynaShellCmdWriteWord
	Write byte value to servo at address. More...
class	DynaShellCmdDump
	Read servo byte value at address. More...

Functions
const char *	rotdirstr (int nSpeed)
	Convert rotation direction to string. More...
void	PublishShellServoCommands (DynaShell &shell)
	Publish shell servo commands to shell. More...

Detailed Description

The Dynamixel Shell Servo Derived Commands.

LastChangedDate

2015-01-12 10:56:06 -0700 (Mon, 12 Jan 2015)

Rev

3845

Author

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

Copyright

© 2011-2017. RoadNarrows LLC.
http://www.roadnarrows.com
All Rights Reserved

Definition in file dynashell_cmd_servo.cxx.

Function Documentation

void PublishShellServoCommands

(

DynaShell &

shell

)

Publish shell servo commands to shell.

shell Dynamixel shell.

Definition at line 2846 of file dynashell_cmd_servo.cxx.

References DynaShell::PublishCommand().

Referenced by DynaShellCmdChainOut::ArgToUInt(), and MainInit().

{
  shell.PublishCommand(NULL, new DynaShellCmdMoveTo());
  shell.PublishCommand(NULL, new DynaShellCmdMoveAtSpeedTo());
  shell.PublishCommand(NULL, new DynaShellCmdEStop());
  shell.PublishCommand(NULL, new DynaShellCmdStop());
  shell.PublishCommand(NULL, new DynaShellCmdFreeze());
  shell.PublishCommand(NULL, new DynaShellCmdRelease());

  shell.PublishCommand("get", new DynaShellCmdGetOdometer());
  shell.PublishCommand("set", new DynaShellCmdSetOdometer());

  shell.PublishCommand("write", new DynaShellCmdCfgWriteServoMode());

  shell.PublishCommand("read", new DynaShellCmdReadTorqueEnable());
  shell.PublishCommand("write", new DynaShellCmdWriteTorqueEnable());

  shell.PublishCommand("read", new DynaShellCmdReadGoalPos());
  //shell.PublishCommand("read", new DynaShellCmdWriteGoalPos());

  shell.PublishCommand("read", new DynaShellCmdReadGoalSpeed());
  shell.PublishCommand("write", new DynaShellCmdWriteGoalSpeed());

  shell.PublishCommand("read", new DynaShellCmdReadMaxTorqueLimit());
  shell.PublishCommand("write", new DynaShellCmdWriteMaxTorqueLimit());

  shell.PublishCommand("get", new DynaShellCmdGetSoftTorqueTh());
  shell.PublishCommand("set", new DynaShellCmdSetSoftTorqueTh());

  shell.PublishCommand("read", new DynaShellCmdReadCurPos());
  shell.PublishCommand("read", new DynaShellCmdReadCurSpeed());

  shell.PublishCommand("read", new DynaShellCmdReadDynamics());
  shell.PublishCommand("read", new DynaShellCmdReadHealth());
  shell.PublishCommand("clear", new DynaShellCmdClearAlarms());

  shell.PublishCommand("read", new DynaShellCmdReadIsMoving());

  shell.PublishCommand("read", new DynaShellCmdReadByte());
  shell.PublishCommand("write", new DynaShellCmdWriteByte());

  shell.PublishCommand("read", new DynaShellCmdReadWord());
  shell.PublishCommand("write", new DynaShellCmdWriteWord());

  shell.PublishCommand("dump", new DynaShellCmdDump());
}

const char* rotdirstr ( int  nSpeed )

inline

Convert rotation direction to string.

Parameters

nSpeed

Speed.

Returns

Short string.

Definition at line 75 of file dynashell_cmd_servo.cxx.

Referenced by DynaShellCmdReadGoalSpeed::doExec(), and DynaShellCmdReadCurSpeed::doExec().

{
  if( nSpeed < 0 )
  {
    return "(cw)";
  }
  else if( nSpeed == 0 )
  {
    return "";
  }
  else
  {
    return "(ccw)";
  }
}