#include <yarp/dev/DeviceDriver.h>
#include <yarp/dev/ControlBoardInterfaces.h>
#include <cstdio>
#include <cstdlib>
#include <cmath>
#include <cstring>
#include <ftdi.h>
#include <usb.h>
#include <iostream>
#include <yarp/os/Time.h>
#include <mutex>
Go to the source code of this file.
Classes | |
class | FtdiDeviceSettings |
FtdiDeviceSettings contains information to identify specific device Such a device can contain information: such as: Manufacturer: FTDI, Description: FT232R USB UART, Serial A7003MhG. More... | |
class | DynamixelAX12FtdiDriver |
dynamixelAX12Ftdi : Documentation to be added More... | |
Enumerations | |
enum | ErrorCode { VOLTAGE_ERROR , ANGLE_ERROR , OVERHEATING_ERROR , RANGE_ERROR , CHECKSUM_ERROR , OVERLOAD_ERROR , INSTRUCTION_ERROR , OK } |
#define AX12_BROADCAST_ID 0xFE |
defines for AX12 general ids
Definition at line 60 of file DynamixelAX12FtdiDriver.h.
#define CT_CW_ANGLE_LIMIT 06 |
Definition at line 68 of file DynamixelAX12FtdiDriver.h.
#define CT_CW_COMP_MARGIN 26 |
Definition at line 79 of file DynamixelAX12FtdiDriver.h.
#define CT_CW_COMP_SLOPE 28 |
Definition at line 81 of file DynamixelAX12FtdiDriver.h.
#define CT_CWW_ANGLE_LIMIT 08 |
Definition at line 69 of file DynamixelAX12FtdiDriver.h.
#define CT_CWW_COMP_MARGIN 27 |
Definition at line 80 of file DynamixelAX12FtdiDriver.h.
#define CT_CWW_COMP_SLOPE 29 |
Definition at line 82 of file DynamixelAX12FtdiDriver.h.
#define CT_FIRMWARE_VERSION 2 |
Definition at line 66 of file DynamixelAX12FtdiDriver.h.
#define CT_GOAL_POSITION 30 |
Definition at line 83 of file DynamixelAX12FtdiDriver.h.
#define CT_LIMIT_TEMPERATURE_H 11 |
Definition at line 70 of file DynamixelAX12FtdiDriver.h.
#define CT_LIMIT_VOLTAGE_H 13 |
Definition at line 72 of file DynamixelAX12FtdiDriver.h.
#define CT_LIMIT_VOLTAGE_L 12 |
Definition at line 71 of file DynamixelAX12FtdiDriver.h.
#define CT_LOCK 47 |
Definition at line 93 of file DynamixelAX12FtdiDriver.h.
#define CT_MAX_TORQUE 14 |
Definition at line 73 of file DynamixelAX12FtdiDriver.h.
#define CT_MODEL_NUMBER 00 |
defines for device parameters - EEPROM ***************************** 100 added if parameter has length 2
Definition at line 65 of file DynamixelAX12FtdiDriver.h.
#define CT_MOVING 46 |
Definition at line 92 of file DynamixelAX12FtdiDriver.h.
#define CT_MOVING_SPEED 32 |
Definition at line 84 of file DynamixelAX12FtdiDriver.h.
#define CT_PRESENT_LOAD 0x28 |
Definition at line 88 of file DynamixelAX12FtdiDriver.h.
#define CT_PRESENT_POSITION 0x24 |
Definition at line 86 of file DynamixelAX12FtdiDriver.h.
#define CT_PRESENT_SPEED 0x26 |
Definition at line 87 of file DynamixelAX12FtdiDriver.h.
#define CT_PRESENT_TEMPERATURE 43 |
Definition at line 90 of file DynamixelAX12FtdiDriver.h.
#define CT_PRESENT_VOLTAGE 42 |
Definition at line 89 of file DynamixelAX12FtdiDriver.h.
#define CT_PUNCH 48 |
Definition at line 94 of file DynamixelAX12FtdiDriver.h.
#define CT_REG_INSTRUCTION 44 |
Definition at line 91 of file DynamixelAX12FtdiDriver.h.
#define CT_RETURN_DELAY_TIME 5 |
Definition at line 67 of file DynamixelAX12FtdiDriver.h.
#define CT_STATUS_RETURN_LEVEL 16 |
Definition at line 74 of file DynamixelAX12FtdiDriver.h.
#define CT_TORQUE_ENABLE 24 |
defines for device parameters - RAM
Definition at line 78 of file DynamixelAX12FtdiDriver.h.
#define CT_TORQUE_LIMIT 34 |
Definition at line 85 of file DynamixelAX12FtdiDriver.h.
#define INST_ACTION 0x05 |
Definition at line 55 of file DynamixelAX12FtdiDriver.h.
#define INST_PING 0x01 |
defines for AX12 instruction codes
Definition at line 51 of file DynamixelAX12FtdiDriver.h.
#define INST_READ 0x02 |
Definition at line 52 of file DynamixelAX12FtdiDriver.h.
#define INST_REGWRITE 0x04 |
Definition at line 54 of file DynamixelAX12FtdiDriver.h.
#define INST_RESET 0x06 |
Definition at line 56 of file DynamixelAX12FtdiDriver.h.
#define INST_SYNCWRITE 0x83 |
Definition at line 57 of file DynamixelAX12FtdiDriver.h.
#define INST_WRITE 0x03 |
Definition at line 53 of file DynamixelAX12FtdiDriver.h.
#define MOTION_COMPLETION_TOLERANCE 3 |
Definition at line 47 of file DynamixelAX12FtdiDriver.h.
Enumerator | |
---|---|
VOLTAGE_ERROR | |
ANGLE_ERROR | |
OVERHEATING_ERROR | |
RANGE_ERROR | |
CHECKSUM_ERROR | |
OVERLOAD_ERROR | |
INSTRUCTION_ERROR | |
OK |
Definition at line 96 of file DynamixelAX12FtdiDriver.h.