Dynamixel protocol definitions. More...

Detailed Description

Dynamixel protocol definitions.

#include <stdint.h>

Include dependency graph for dynamixel_protocol.h:

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#define	DXL_HEADER ((uint8_t[]){0xFF,0xFF,0xFD})

enum	xl320_baudrate_t { XL320_B_9600 = 0 , XL320_B_57600 = 1 , XL320_B_115200 = 2 , XL320_B_1000000 = 3 }

enum	xl320_register8_t { XL320_VERSION = 2 , XL320_ID = 3 , XL320_BAUD_RATE = 4 , XL320_RETURN_DELAY_TIME = 5 , XL320_CONTROL_MODE = 11 , XL320_LIMIT_TEMPERATURE = 12 , XL320_LOWER_LIMIT_VOLTAGE = 13 , XL320_UPPER_LIMIT_VOLTAGE = 14 , XL320_RETURN_LEVEL = 17 , XL320_ALARM_SHUTDOWN = 18 , XL320_TORQUE_ENABLE = 24 , XL320_LED = 25 , XL320_D_GAIN = 27 , XL320_I_GAIN = 28 , XL320_P_GAIN = 29 , XL320_PRESENT_VOLTAGE = 45 , XL320_PRESENT_TEMPERATURE = 46 , XL320_REGISTERED_INST = 47 , XL320_MOVING = 49 , XL320_ERROR = 50 }

enum	xl320_register16_t { XL320_MODEL_NUMBER = 0 , XL320_CW_ANGLE_LIMIT = 6 , XL320_CCW_ANGLE_LIMIT = 8 , XL320_MAX_TORQUE = 15 , XL320_GOAL_POSITION = 30 , XL320_GOAL_VELOCITY = 32 , XL320_GOAL_TORQUE = 35 , XL320_PRESENT_POSITION = 37 , XL320_PRESENT_SPEED = 39 , XL320_PRESENT_LOAD = 41 , XL320_PUNCH = 51 }

enum	dynamixel_intruction_t { DXL_INST_PING = 0x01 , DXL_INST_READ = 0x02 , DXL_INST_WRITE = 0x03 , DXL_INST_REG_WRITE = 0x04 , DXL_INST_ACTION = 0x05 , DXL_INST_FACTORY_RESET = 0x06 , DXL_INST_REBOOT = 0x08 , DXL_INST_STATUS = 0x55 , DXL_INST_SYNC_READ = 0x82 , DXL_INST_SYNC_WRITE = 0x83 , DXL_INST_BULK_READ = 0x92 , DXL_INST_BULK_WRITE = 0x93 }

Macro Definition Documentation

#define DXL_HEADER ((uint8_t[]){0xFF,0xFF,0xFD})

Definition at line 29 of file dynamixel_protocol.h.

Enumerator
DXL_INST_PING	checks if ID is associated to a Device
DXL_INST_READ	read data from the Device
DXL_INST_WRITE	write data on the Device
DXL_INST_REG_WRITE	registers the write instruction to a standby status
DXL_INST_ACTION	executes the write instruction previously registered
DXL_INST_FACTORY_RESET	resets the Control Table to its initial factory default settings
DXL_INST_REBOOT	reboot the Device
DXL_INST_STATUS	Return Instruction for the Instruction Packet.
DXL_INST_SYNC_READ	(Multiple devices) read data with same Address and length at once
DXL_INST_SYNC_WRITE	(Multiple devices) write data on the same Address and length at once
DXL_INST_BULK_READ	(Multiple devices) read data from different Addresses and lengths at once
DXL_INST_BULK_WRITE	(Multiple devices) write data on different Addresses and lengths at once

Definition at line 75 of file dynamixel_protocol.h.

Definition at line 31 of file dynamixel_protocol.h.

Enumerator
XL320_MODEL_NUMBER	Model number [R] (default=350)
XL320_CW_ANGLE_LIMIT	clockwise Angle Limit [RW] (default=0 ; min=0 ; max=1023)
XL320_CCW_ANGLE_LIMIT	counterclockwise Angle Limit [RW] (default=1023 ; min=0 ; max=1023)
XL320_MAX_TORQUE	Lowest byte of Max. Torque [RW] (default=1023 ; min=0 ; max=1023)
XL320_GOAL_POSITION	Goal Position [RW] (min=0 ; max=1023)
XL320_GOAL_VELOCITY	Goal Speed [RW] (min=0 ; max=2047)
XL320_GOAL_TORQUE	Goal Torque [RW] (min=0 ; max=1023)
XL320_PRESENT_POSITION	Current Position [R].
XL320_PRESENT_SPEED	Current Speed [R].
XL320_PRESENT_LOAD	Current Load [R].
XL320_PUNCH	Punch [RW] (default=32 ; min=0 ; max=1023)

Definition at line 61 of file dynamixel_protocol.h.

Enumerator
XL320_VERSION	Information on the version of firmware [R].
XL320_ID	ID of Dynamixel [RW] (default=1 ; min=0 ; max=252)
XL320_BAUD_RATE	Baud Rate of Dynamixel [RW] (default=3 ; min=0 ; max=3)
XL320_RETURN_DELAY_TIME	Return Delay Time [RW] (default=250 ; min=0 ; max=254)
XL320_CONTROL_MODE	Control Mode [RW] (default=2 ; min=1 ; max=2)
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_UPPER_LIMIT_VOLTAGE	Upper Limit Voltage [RW] (default=90 ; min=50 ; max=250)
XL320_RETURN_LEVEL	Return Level [RW] (default=2 ; min=0 ; max=2)
XL320_ALARM_SHUTDOWN	Shutdown for Alarm [RW] (default=3 ; min=0 ; max=7)
XL320_TORQUE_ENABLE	Torque On/Off [RW] (default=0 ; min=0 ; max=1)
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_I_GAIN	I Gain [RW] (default=0 ; min=0 ; max=254)
XL320_P_GAIN	P Gain [RW] (default=32 ; min=0 ; max=254)
XL320_PRESENT_VOLTAGE	Current Voltage [R].
XL320_PRESENT_TEMPERATURE	Present temperature [R].
XL320_REGISTERED_INST	Registered Instruction [R] (default=0)
XL320_MOVING	Moving [R] (default=0)
XL320_ERROR	Hardware error status [R] (default=0)

Definition at line 38 of file dynamixel_protocol.h.