feetech_protocol.h File Reference

Feetech protocol definitions. More...

Detailed Description

+ This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

#define FEETECH_START   (0xFF)
 
enum  scs15_baudrate_t {
  SCS15_B_1M = 0, SCS15_B_0_5M = 1, SCS15_B_250K = 2, SCS15_B_128K = 3,
  SCS15_B_115200 = 4, SCS15_B_76800 = 5, SCS15_B_57600 = 6, SCS15_B_38400 = 7
}
 
enum  scs15_register8_t {
  SCS15_ID = 5, SCS15_BAUD_RATE = 6, SCS15_RETURN_DELAY_TIME = 7, SCS15_RETURN_LEVEL = 8,
  SCS15_LIMIT_TEMPERATURE = 13, SCS15_MAX_LIMIT_VOLTAGE = 14, SCS15_MIN_LIMIT_VOLTAGE = 15, SCS15_ALARM_LED = 18,
  SCS15_ALARM_SHUTDOWN = 19, SCS15_COMPLIANCE_P = 21, SCS15_COMPLIANCE_D = 22, SCS15_COMPLIANCE_I = 23,
  SCS15_CW_DEAD = 26, SCS15_CCW_DEAD = 27, SCS15_TORQUE_ENABLE = 40, SCS15_LED = 41,
  SCS15_LOCK = 48, SCS15_PRESENT_VOLTAGE = 62, SCS15_PRESENT_TEMPERATURE = 63, SCS15_REGISTERED_INSTRUCTION = 64,
  SCS15_ERROR = 65, SCS15_MOVING = 66
}
 
enum  scs15_register16_t {
  SCS15_MODEL_NUMBER = 0, SCS15_VERSION = 3, SCS15_MIN_ANGLE_LIMIT = 9, SCS15_MAX_ANGLE_LIMIT = 11,
  SCS15_MAX_TORQUE = 16, SCS15_PUNCH = 24, SCS15_IMAX = 28, SCS15_OFFSET = 30,
  SCS15_GOAL_POSITION = 42, SCS15_GOAL_TIME = 44, SCS15_GOAL_SPEED = 46, SCS15_PRESENT_POSITION = 56,
  SCS15_PRESENT_SPEED = 58, SCS15_PRESENT_LOAD = 60, SCS15_VIR_POSITION = 67, SCS15_CURRENT = 69
}
 
enum  feetech_intruction_t {
  INST_PING = 0x01, INST_READ = 0x02, INST_WRITE = 0x03, INST_REG_WRITE = 0x04,
  INST_ACTION = 0x05, INST_RESET = 0x06, INST_SYNC_WRITE = 0x83
}