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dynamixel_protocol.h
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1/*
2 * Copyright (C) 2017 Inria
3 *
4 * This file is subject to the terms and conditions of the GNU Lesser General
5 * Public License v2.1. See the file LICENSE in the top level directory for more
6 * details.
7 */
8
20#ifndef DYNAMIXEL_PROTOCOL_H
21#define DYNAMIXEL_PROTOCOL_H
22
23#include <stdint.h>
24
25#ifdef __cplusplus
26extern "C" {
27#endif
28
29#define DXL_HEADER ((uint8_t[]){0xFF,0xFF,0xFD})
30
37
60
74
89
90#ifdef __cplusplus
91}
92#endif
93
94#endif /* DYNAMIXEL_PROTOCOL_H */
xl320_baudrate_t
@ XL320_B_1000000
XL320 available baudrate : 1000000.
@ XL320_B_57600
XL320 available baudrate : 57600.
@ XL320_B_9600
XL320 available baudrate : 9600.
@ XL320_B_115200
XL320 available baudrate : 115200.
xl320_register8_t
@ XL320_I_GAIN
I Gain [RW] (default=0 ; min=0 ; max=254)
@ XL320_REGISTERED_INST
Registered Instruction [R] (default=0)
@ XL320_LIMIT_TEMPERATURE
Internal Limit Temperature [RW] (default=65 ; min=0 ; max=150)
@ XL320_LOWER_LIMIT_VOLTAGE
Lowest Limit Voltage [RW] (default=60 ; min=50 ; max=250)
@ XL320_PRESENT_VOLTAGE
Current Voltage [R].
@ XL320_ALARM_SHUTDOWN
Shutdown for Alarm [RW] (default=3 ; min=0 ; max=7)
@ XL320_ID
ID of Dynamixel [RW] (default=1 ; min=0 ; max=252)
@ XL320_RETURN_LEVEL
Return Level [RW] (default=2 ; min=0 ; max=2)
@ XL320_RETURN_DELAY_TIME
Return Delay Time [RW] (default=250 ; min=0 ; max=254)
@ XL320_UPPER_LIMIT_VOLTAGE
Upper Limit Voltage [RW] (default=90 ; min=50 ; max=250)
@ XL320_CONTROL_MODE
Control Mode [RW] (default=2 ; min=1 ; max=2)
@ XL320_LED
LED On/Off [RW] (default=0 ; min=0 ; max=7)
@ XL320_D_GAIN
D Gain [RW] (default=0 ; min=0 ; max=254)
@ XL320_MOVING
Moving [R] (default=0)
@ XL320_ERROR
Hardware error status [R] (default=0)
@ XL320_PRESENT_TEMPERATURE
Present temperature [R].
@ XL320_TORQUE_ENABLE
Torque On/Off [RW] (default=0 ; min=0 ; max=1)
@ XL320_VERSION
Information on the version of firmware [R].
@ XL320_BAUD_RATE
Baud Rate of Dynamixel [RW] (default=3 ; min=0 ; max=3)
@ XL320_P_GAIN
P Gain [RW] (default=32 ; min=0 ; max=254)
dynamixel_intruction_t
@ DXL_INST_WRITE
write data on the Device
@ DXL_INST_STATUS
Return Instruction for the Instruction Packet.
@ DXL_INST_SYNC_WRITE
(Multiple devices) write data on the same Address and length at once
@ DXL_INST_READ
read data from the Device
@ DXL_INST_REG_WRITE
registers the write instruction to a standby status
@ DXL_INST_REBOOT
reboot the Device
@ DXL_INST_SYNC_READ
(Multiple devices) read data with same Address and length at once
@ DXL_INST_FACTORY_RESET
resets the Control Table to its initial factory default settings
@ DXL_INST_BULK_WRITE
(Multiple devices) write data on different Addresses and lengths at once
@ DXL_INST_ACTION
executes the write instruction previously registered
@ DXL_INST_BULK_READ
(Multiple devices) read data from different Addresses and lengths at once
@ DXL_INST_PING
checks if ID is associated to a Device
xl320_register16_t
@ XL320_PRESENT_SPEED
Current Speed [R].
@ XL320_PRESENT_LOAD
Current Load [R].
@ XL320_GOAL_VELOCITY
Goal Speed [RW] (min=0 ; max=2047)
@ XL320_GOAL_POSITION
Goal Position [RW] (min=0 ; max=1023)
@ XL320_GOAL_TORQUE
Goal Torque [RW] (min=0 ; max=1023)
@ XL320_CW_ANGLE_LIMIT
clockwise Angle Limit [RW] (default=0 ; min=0 ; max=1023)
@ XL320_PUNCH
Punch [RW] (default=32 ; min=0 ; max=1023)
@ XL320_MAX_TORQUE
Lowest byte of Max.
@ XL320_PRESENT_POSITION
Current Position [R].
@ XL320_MODEL_NUMBER
Model number [R] (default=350)
@ XL320_CCW_ANGLE_LIMIT
counterclockwise Angle Limit [RW] (default=1023 ; min=0 ; max=1023)