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
26 extern "C" {
27 #endif
28 
29 #define DXL_HEADER ((uint8_t[]){0xFF,0xFF,0xFD})
30 
31 typedef enum {
37 
38 typedef enum {
40  XL320_ID = 3,
50  XL320_LED = 25,
51  XL320_D_GAIN = 27,
52  XL320_I_GAIN = 28,
53  XL320_P_GAIN = 29,
57  XL320_MOVING = 49,
58  XL320_ERROR = 50,
60 
61 typedef enum {
72  XL320_PUNCH = 51,
74 
75 typedef enum {
76  DXL_INST_PING = 0x01,
77  DXL_INST_READ = 0x02,
78  DXL_INST_WRITE = 0x03,
80  DXL_INST_ACTION = 0x05,
82  DXL_INST_REBOOT = 0x08,
83  DXL_INST_STATUS = 0x55,
89 
90 #ifdef __cplusplus
91 }
92 #endif
93 
94 #endif
95 
Lowest Limit Voltage [RW] (default=60 ; min=50 ; max=250)
XL320 available baudrate : 1000000.
Control Mode [RW] (default=2 ; min=1 ; max=2)
read data from the Device
Return Level [RW] (default=2 ; min=0 ; max=2)
xl320_baudrate_t
I Gain [RW] (default=0 ; min=0 ; max=254)
Lowest byte of Max.
Return Instruction for the Instruction Packet.
Information on the version of firmware [R].
Return Delay Time [RW] (default=250 ; min=0 ; max=254)
Current Voltage [R].
(Multiple devices) read data with same Address and length at once
Goal Speed [RW] (min=0 ; max=2047)
clockwise Angle Limit [RW] (default=0 ; min=0 ; max=1023)
executes the write instruction previously registered
Registered Instruction [R] (default=0)
Internal Limit Temperature [RW] (default=65 ; min=0 ; max=150)
registers the write instruction to a standby status
XL320 available baudrate : 57600.
(Multiple devices) write data on different Addresses and lengths at once
Current Position [R].
D Gain [RW] (default=0 ; min=0 ; max=254)
reboot the Device
Model number [R] (default=350)
Goal Position [RW] (min=0 ; max=1023)
(Multiple devices) read data from different Addresses and lengths at once
ID of Dynamixel [RW] (default=1 ; min=0 ; max=252)
Hardware error status [R] (default=0)
XL320 available baudrate : 115200.
LED On/Off [RW] (default=0 ; min=0 ; max=7)
xl320_register8_t
Goal Torque [RW] (min=0 ; max=1023)
counterclockwise Angle Limit [RW] (default=1023 ; min=0 ; max=1023)
(Multiple devices) write data on the same Address and length at once
Current Load [R].
Punch [RW] (default=32 ; min=0 ; max=1023)
Moving [R] (default=0)
Present temperature [R].
xl320_register16_t
XL320 available baudrate : 9600.
Current Speed [R].
Torque On/Off [RW] (default=0 ; min=0 ; max=1)
write data on the Device
resets the Control Table to its initial factory default settings
P Gain [RW] (default=32 ; min=0 ; max=254)
dynamixel_intruction_t
checks if ID is associated to a Device
Upper Limit Voltage [RW] (default=90 ; min=50 ; max=250)
Shutdown for Alarm [RW] (default=3 ; min=0 ; max=7)
Baud Rate of Dynamixel [RW] (default=3 ; min=0 ; max=3)