Fawkes API  Fawkes Development Version
fawkes::DynamixelServoInterface Class Reference

DynamixelServoInterface Fawkes BlackBoard Interface. More...

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Inheritance diagram for fawkes::DynamixelServoInterface:

Classes

class  FlushMessage
 FlushMessage Fawkes BlackBoard Interface Message. More...
 
class  GotoMessage
 GotoMessage Fawkes BlackBoard Interface Message. More...
 
class  GotoPositionMessage
 GotoPositionMessage Fawkes BlackBoard Interface Message. More...
 
class  RecoverMessage
 RecoverMessage Fawkes BlackBoard Interface Message. More...
 
class  ResetRawErrorMessage
 ResetRawErrorMessage Fawkes BlackBoard Interface Message. More...
 
class  SetAngleLimitsMessage
 SetAngleLimitsMessage Fawkes BlackBoard Interface Message. More...
 
class  SetAutorecoverEnabledMessage
 SetAutorecoverEnabledMessage Fawkes BlackBoard Interface Message. More...
 
class  SetComplianceValuesMessage
 SetComplianceValuesMessage Fawkes BlackBoard Interface Message. More...
 
class  SetEnabledMessage
 SetEnabledMessage Fawkes BlackBoard Interface Message. More...
 
class  SetGoalSpeedMessage
 SetGoalSpeedMessage Fawkes BlackBoard Interface Message. More...
 
class  SetMarginMessage
 SetMarginMessage Fawkes BlackBoard Interface Message. More...
 
class  SetModeMessage
 SetModeMessage Fawkes BlackBoard Interface Message. More...
 
class  SetPreventAlarmShutdownMessage
 SetPreventAlarmShutdownMessage Fawkes BlackBoard Interface Message. More...
 
class  SetPunchMessage
 SetPunchMessage Fawkes BlackBoard Interface Message. More...
 
class  SetSpeedMessage
 SetSpeedMessage Fawkes BlackBoard Interface Message. More...
 
class  SetTorqueLimitMessage
 SetTorqueLimitMessage Fawkes BlackBoard Interface Message. More...
 
class  SetVelocityMessage
 SetVelocityMessage Fawkes BlackBoard Interface Message. More...
 
class  StopMessage
 StopMessage Fawkes BlackBoard Interface Message. More...
 
class  TimedGotoMessage
 TimedGotoMessage Fawkes BlackBoard Interface Message. More...
 

Public Types

enum  ErrorCode { ERROR_NONE = 0, ERROR_UNSPECIFIC = 1, ERROR_COMMUNICATION = 2, ERROR_ANGLE_OUTOFRANGE = 4 }
 Error code to explain an error. More...
 
enum  WorkingMode { JOINT = 0, WHEEL = 1 }
 Mode to be set for the servo. More...
 

Public Member Functions

const char * tostring_ErrorCode (ErrorCode value) const
 Convert ErrorCode constant to string. More...
 
const char * tostring_WorkingMode (WorkingMode value) const
 Convert WorkingMode constant to string. More...
 
virtual bool message_valid (const Message *message) const
 Check if message is valid and can be enqueued. More...
 
char * model () const
 Get model value. More...
 
void set_model (const char *new_model)
 Set model value. More...
 
size_t maxlenof_model () const
 Get maximum length of model value. More...
 
uint32_t model_number () const
 Get model_number value. More...
 
void set_model_number (const uint32_t new_model_number)
 Set model_number value. More...
 
size_t maxlenof_model_number () const
 Get maximum length of model_number value. More...
 
uint32_t cw_angle_limit () const
 Get cw_angle_limit value. More...
 
void set_cw_angle_limit (const uint32_t new_cw_angle_limit)
 Set cw_angle_limit value. More...
 
size_t maxlenof_cw_angle_limit () const
 Get maximum length of cw_angle_limit value. More...
 
uint32_t ccw_angle_limit () const
 Get ccw_angle_limit value. More...
 
void set_ccw_angle_limit (const uint32_t new_ccw_angle_limit)
 Set ccw_angle_limit value. More...
 
size_t maxlenof_ccw_angle_limit () const
 Get maximum length of ccw_angle_limit value. More...
 
uint8_t temperature_limit () const
 Get temperature_limit value. More...
 
void set_temperature_limit (const uint8_t new_temperature_limit)
 Set temperature_limit value. More...
 
size_t maxlenof_temperature_limit () const
 Get maximum length of temperature_limit value. More...
 
uint32_t max_torque () const
 Get max_torque value. More...
 
void set_max_torque (const uint32_t new_max_torque)
 Set max_torque value. More...
 
size_t maxlenof_max_torque () const
 Get maximum length of max_torque value. More...
 
uint8_t cw_margin () const
 Get cw_margin value. More...
 
void set_cw_margin (const uint8_t new_cw_margin)
 Set cw_margin value. More...
 
size_t maxlenof_cw_margin () const
 Get maximum length of cw_margin value. More...
 
uint8_t ccw_margin () const
 Get ccw_margin value. More...
 
void set_ccw_margin (const uint8_t new_ccw_margin)
 Set ccw_margin value. More...
 
size_t maxlenof_ccw_margin () const
 Get maximum length of ccw_margin value. More...
 
uint8_t cw_slope () const
 Get cw_slope value. More...
 
void set_cw_slope (const uint8_t new_cw_slope)
 Set cw_slope value. More...
 
size_t maxlenof_cw_slope () const
 Get maximum length of cw_slope value. More...
 
uint8_t ccw_slope () const
 Get ccw_slope value. More...
 
void set_ccw_slope (const uint8_t new_ccw_slope)
 Set ccw_slope value. More...
 
size_t maxlenof_ccw_slope () const
 Get maximum length of ccw_slope value. More...
 
uint32_t goal_position () const
 Get goal_position value. More...
 
void set_goal_position (const uint32_t new_goal_position)
 Set goal_position value. More...
 
size_t maxlenof_goal_position () const
 Get maximum length of goal_position value. More...
 
uint32_t goal_speed () const
 Get goal_speed value. More...
 
void set_goal_speed (const uint32_t new_goal_speed)
 Set goal_speed value. More...
 
size_t maxlenof_goal_speed () const
 Get maximum length of goal_speed value. More...
 
uint32_t torque_limit () const
 Get torque_limit value. More...
 
void set_torque_limit (const uint32_t new_torque_limit)
 Set torque_limit value. More...
 
size_t maxlenof_torque_limit () const
 Get maximum length of torque_limit value. More...
 
uint32_t position () const
 Get position value. More...
 
void set_position (const uint32_t new_position)
 Set position value. More...
 
size_t maxlenof_position () const
 Get maximum length of position value. More...
 
uint32_t speed () const
 Get speed value. More...
 
void set_speed (const uint32_t new_speed)
 Set speed value. More...
 
size_t maxlenof_speed () const
 Get maximum length of speed value. More...
 
uint32_t load () const
 Get load value. More...
 
void set_load (const uint32_t new_load)
 Set load value. More...
 
size_t maxlenof_load () const
 Get maximum length of load value. More...
 
uint8_t voltage () const
 Get voltage value. More...
 
void set_voltage (const uint8_t new_voltage)
 Set voltage value. More...
 
size_t maxlenof_voltage () const
 Get maximum length of voltage value. More...
 
uint8_t temperature () const
 Get temperature value. More...
 
void set_temperature (const uint8_t new_temperature)
 Set temperature value. More...
 
size_t maxlenof_temperature () const
 Get maximum length of temperature value. More...
 
uint32_t punch () const
 Get punch value. More...
 
void set_punch (const uint32_t new_punch)
 Set punch value. More...
 
size_t maxlenof_punch () const
 Get maximum length of punch value. More...
 
uint8_t alarm_shutdown () const
 Get alarm_shutdown value. More...
 
void set_alarm_shutdown (const uint8_t new_alarm_shutdown)
 Set alarm_shutdown value. More...
 
size_t maxlenof_alarm_shutdown () const
 Get maximum length of alarm_shutdown value. More...
 
uint8_t error () const
 Get error value. More...
 
void set_error (const uint8_t new_error)
 Set error value. More...
 
size_t maxlenof_error () const
 Get maximum length of error value. More...
 
bool is_enable_prevent_alarm_shutdown () const
 Get enable_prevent_alarm_shutdown value. More...
 
void set_enable_prevent_alarm_shutdown (const bool new_enable_prevent_alarm_shutdown)
 Set enable_prevent_alarm_shutdown value. More...
 
size_t maxlenof_enable_prevent_alarm_shutdown () const
 Get maximum length of enable_prevent_alarm_shutdown value. More...
 
float angle () const
 Get angle value. More...
 
void set_angle (const float new_angle)
 Set angle value. More...
 
size_t maxlenof_angle () const
 Get maximum length of angle value. More...
 
bool is_enabled () const
 Get enabled value. More...
 
void set_enabled (const bool new_enabled)
 Set enabled value. More...
 
size_t maxlenof_enabled () const
 Get maximum length of enabled value. More...
 
float min_angle () const
 Get min_angle value. More...
 
void set_min_angle (const float new_min_angle)
 Set min_angle value. More...
 
size_t maxlenof_min_angle () const
 Get maximum length of min_angle value. More...
 
float max_angle () const
 Get max_angle value. More...
 
void set_max_angle (const float new_max_angle)
 Set max_angle value. More...
 
size_t maxlenof_max_angle () const
 Get maximum length of max_angle value. More...
 
float max_velocity () const
 Get max_velocity value. More...
 
void set_max_velocity (const float new_max_velocity)
 Set max_velocity value. More...
 
size_t maxlenof_max_velocity () const
 Get maximum length of max_velocity value. More...
 
float velocity () const
 Get velocity value. More...
 
void set_velocity (const float new_velocity)
 Set velocity value. More...
 
size_t maxlenof_velocity () const
 Get maximum length of velocity value. More...
 
char * mode () const
 Get mode value. More...
 
void set_mode (const char *new_mode)
 Set mode value. More...
 
size_t maxlenof_mode () const
 Get maximum length of mode value. More...
 
float angle_margin () const
 Get angle_margin value. More...
 
void set_angle_margin (const float new_angle_margin)
 Set angle_margin value. More...
 
size_t maxlenof_angle_margin () const
 Get maximum length of angle_margin value. More...
 
bool is_autorecover_enabled () const
 Get autorecover_enabled value. More...
 
void set_autorecover_enabled (const bool new_autorecover_enabled)
 Set autorecover_enabled value. More...
 
size_t maxlenof_autorecover_enabled () const
 Get maximum length of autorecover_enabled value. More...
 
uint32_t msgid () const
 Get msgid value. More...
 
void set_msgid (const uint32_t new_msgid)
 Set msgid value. More...
 
size_t maxlenof_msgid () const
 Get maximum length of msgid value. More...
 
bool is_final () const
 Get final value. More...
 
void set_final (const bool new_final)
 Set final value. More...
 
size_t maxlenof_final () const
 Get maximum length of final value. More...
 
ErrorCode error_code () const
 Get error_code value. More...
 
void set_error_code (const ErrorCode new_error_code)
 Set error_code value. More...
 
size_t maxlenof_error_code () const
 Get maximum length of error_code value. More...
 
virtual Messagecreate_message (const char *type) const
 Create message based on type name. More...
 
virtual void copy_values (const Interface *other)
 Copy values from other interface. More...
 
virtual const char * enum_tostring (const char *enumtype, int val) const
 Convert arbitrary enum value to string. More...
 
- Public Member Functions inherited from fawkes::Interface
virtual ~Interface ()
 Destructor. More...
 
bool oftype (const char *interface_type) const
 Check if interface is of given type. More...
 
const void * datachunk () const
 Get data chunk. More...
 
unsigned int datasize () const
 Get data size. More...
 
const char * type () const
 Get type of interface. More...
 
const char * id () const
 Get identifier of interface. More...
 
const char * uid () const
 Get unique identifier of interface. More...
 
unsigned short serial () const
 Get instance serial of interface. More...
 
unsigned int mem_serial () const
 Get memory serial of interface. More...
 
bool operator== (Interface &comp) const
 Check equality of two interfaces. More...
 
const unsigned char * hash () const
 Get interface hash. More...
 
size_t hash_size () const
 Get size of interface hash. More...
 
const char * hash_printable () const
 Get printable interface hash. More...
 
bool is_writer () const
 Check if this is a writing instance. More...
 
void set_validity (bool valid)
 Mark this interface invalid. More...
 
bool is_valid () const
 Check validity of interface. More...
 
const char * owner () const
 Get owner of interface. More...
 
void set_from_chunk (void *chunk)
 Set from a raw data chunk. More...
 
void resize_buffers (unsigned int num_buffers)
 Resize buffer array. More...
 
unsigned int num_buffers () const
 Get number of buffers. More...
 
void copy_shared_to_buffer (unsigned int buffer)
 Copy data from private memory to buffer. More...
 
void copy_private_to_buffer (unsigned int buffer)
 Copy data from private memory to buffer. More...
 
void read_from_buffer (unsigned int buffer)
 Copy data from buffer to private memory. More...
 
int compare_buffers (unsigned int buffer)
 Compare buffer to private memory. More...
 
Time buffer_timestamp (unsigned int buffer)
 Get time of a buffer. More...
 
void buffer_timestamp (unsigned int buffer, Time *timestamp)
 Get time of a buffer. More...
 
void read ()
 Read from BlackBoard into local copy. More...
 
void write ()
 Write from local copy into BlackBoard memory. More...
 
bool has_writer () const
 Check if there is a writer for the interface. More...
 
unsigned int num_readers () const
 Get the number of readers. More...
 
std::string writer () const
 Get owner name of writing interface instance. More...
 
std::list< std::string > readers () const
 Get owner names of reading interface instances. More...
 
bool changed () const
 Check if data has been changed. More...
 
const Timetimestamp () const
 Get timestamp of last write. More...
 
void set_auto_timestamping (bool enabled)
 Enable or disable automated timestamping. More...
 
void set_timestamp (const Time *t=NULL)
 Set timestamp. More...
 
void set_clock (Clock *clock)
 Set clock to use for timestamping. More...
 
void mark_data_changed ()
 Mark data as changed. More...
 
std::list< const char * > get_message_types ()
 Obtain a list of textual representations of the message types available for this interface. More...
 
unsigned int msgq_enqueue (Message *message)
 Enqueue message at end of queue. More...
 
unsigned int msgq_enqueue_copy (Message *message)
 Enqueue copy of message at end of queue. More...
 
void msgq_remove (Message *message)
 Remove message from queue. More...
 
void msgq_remove (unsigned int message_id)
 Remove message from queue. More...
 
unsigned int msgq_size ()
 Get size of message queue. More...
 
void msgq_flush ()
 Flush all messages. More...
 
void msgq_lock ()
 Lock message queue. More...
 
bool msgq_try_lock ()
 Try to lock message queue. More...
 
void msgq_unlock ()
 Unlock message queue. More...
 
void msgq_pop ()
 Erase first message from queue. More...
 
Messagemsgq_first ()
 Get the first message from the message queue. More...
 
bool msgq_empty ()
 Check if queue is empty. More...
 
void msgq_append (Message *message)
 Enqueue message. More...
 
template<class MessageType >
bool msgq_first_is ()
 Check if first message has desired type. More...
 
template<class MessageType >
MessageType * msgq_first ()
 Get first message casted to the desired type. More...
 
template<class MessageType >
MessageType * msgq_first (MessageType *&msg)
 Get first message casted to the desired type. More...
 
template<class MessageType >
MessageType * msgq_first_safe (MessageType *&msg) throw ()
 Get first message casted to the desired type without exceptions. More...
 
MessageQueue::MessageIterator msgq_begin ()
 Get start iterator for message queue. More...
 
MessageQueue::MessageIterator msgq_end ()
 Get end iterator for message queue. More...
 
InterfaceFieldIterator fields ()
 Get iterator over all fields of this interface instance. More...
 
InterfaceFieldIterator fields_end ()
 Invalid iterator. More...
 
unsigned int num_fields ()
 Get the number of fields in the interface. More...
 

Additional Inherited Members

- Static Public Member Functions inherited from fawkes::Interface
static void parse_uid (const char *uid, std::string &type, std::string &id)
 Parse UID to type and ID strings. More...
 
- Protected Member Functions inherited from fawkes::Interface
 Interface ()
 Constructor. More...
 
void set_hash (unsigned char *ihash)
 Set hash. More...
 
void add_fieldinfo (interface_fieldtype_t type, const char *name, size_t length, void *value, const char *enumtype=0, const interface_enum_map_t *enum_map=0)
 Add an entry to the field info list. More...
 
void add_messageinfo (const char *name)
 Add an entry to the message info list. More...
 
- Protected Attributes inherited from fawkes::Interface
void * data_ptr
 Pointer to local memory storage. More...
 
unsigned int data_size
 Minimal data size to hold data storage. More...
 
bool data_changed
 Indicator if data has changed. More...
 
interface_data_ts_tdata_ts
 Pointer to data casted to timestamp struct. More...
 

Detailed Description

DynamixelServoInterface Fawkes BlackBoard Interface.

Interface to access Robotis Dynamixel Servos.

Definition at line 33 of file DynamixelServoInterface.h.

Member Enumeration Documentation

◆ ErrorCode

Error code to explain an error.

Enumerator
ERROR_NONE 

No error occured.

ERROR_UNSPECIFIC 

Some unspecified error occured.

ERROR_COMMUNICATION 

Communication with device failed.

ERROR_ANGLE_OUTOFRANGE 

Desired angle is out of range.

Definition at line 42 of file DynamixelServoInterface.h.

◆ WorkingMode

Mode to be set for the servo.

Enumerator
JOINT 

Joint mode to move in a range of -2.616 to +2.616 rad.

WHEEL 

Wheel mode to use the servo in a continuously rotating mode.

The rotation speed is set by bits 0-9 in the goal speed setting. Bit 10 of the goal speed setting sets the desired rotation direction, 0 for CCW direction turn and 1 for CW direction turn.

Definition at line 55 of file DynamixelServoInterface.h.

Member Function Documentation

◆ alarm_shutdown()

uint8_t fawkes::DynamixelServoInterface::alarm_shutdown ( ) const

Get alarm_shutdown value.

Alarm Shutdown. The bitmask is set as follows (taken from Trossen Robotics PDF "AX-12(English).pdf"): Bit 7: 0 Bit 6: If set to 1, torque off when an Instruction Error occurs Bit 5: If set to 1, torque off when an Overload Error occurs Bit 4: If set to 1, torque off when a Checksum Error occurs Bit 3: If set to 1, torque off when a Range Error occurs Bit 2: If set to 1, torque off when an Overheating Error occurs Bit 1: If set to 1, torque off when an Angle Limit Error occurs Bit 0: If set to 1, torque off when an Input Voltage Error occurs

Returns
alarm_shutdown value

Definition at line 754 of file DynamixelServoInterface.cpp.

◆ angle()

float fawkes::DynamixelServoInterface::angle ( ) const

Get angle value.

Current angle.

Returns
angle value

Definition at line 877 of file DynamixelServoInterface.cpp.

◆ angle_margin()

float fawkes::DynamixelServoInterface::angle_margin ( ) const

Get angle_margin value.

Margin in radians around a target servo value to consider the motion as final.

Returns
angle_margin value

Definition at line 1097 of file DynamixelServoInterface.cpp.

◆ ccw_angle_limit()

uint32_t fawkes::DynamixelServoInterface::ccw_angle_limit ( ) const

Get ccw_angle_limit value.

Counter-clockwise angle limit

Returns
ccw_angle_limit value

Definition at line 248 of file DynamixelServoInterface.cpp.

◆ ccw_margin()

uint8_t fawkes::DynamixelServoInterface::ccw_margin ( ) const

Get ccw_margin value.

CCW Compliance Margin

Returns
ccw_margin value

Definition at line 372 of file DynamixelServoInterface.cpp.

◆ ccw_slope()

uint8_t fawkes::DynamixelServoInterface::ccw_slope ( ) const

Get ccw_slope value.

CCW Compliance Slope

Returns
ccw_slope value

Definition at line 434 of file DynamixelServoInterface.cpp.

◆ copy_values()

void fawkes::DynamixelServoInterface::copy_values ( const Interface other)
virtual

Copy values from other interface.

Parameters
otherother interface to copy values from

Implements fawkes::Interface.

Definition at line 1309 of file DynamixelServoInterface.cpp.

References fawkes::Interface::type().

◆ create_message()

Message * fawkes::DynamixelServoInterface::create_message ( const char *  type) const
virtual

Create message based on type name.

This will create a new message of the given type. The type must be given without the InterfaceName:: prefix but just the plain class name of the message.

Parameters
typemessage type
Returns
message of the given type, empty
Exceptions
UnknownTypeExceptionthrown if this interface cannot create a message of the given type.

Implements fawkes::Interface.

Definition at line 1258 of file DynamixelServoInterface.cpp.

◆ cw_angle_limit()

uint32_t fawkes::DynamixelServoInterface::cw_angle_limit ( ) const

Get cw_angle_limit value.

Clockwise angle limit

Returns
cw_angle_limit value

Definition at line 217 of file DynamixelServoInterface.cpp.

◆ cw_margin()

uint8_t fawkes::DynamixelServoInterface::cw_margin ( ) const

Get cw_margin value.

CW Compliance Margin

Returns
cw_margin value

Definition at line 341 of file DynamixelServoInterface.cpp.

◆ cw_slope()

uint8_t fawkes::DynamixelServoInterface::cw_slope ( ) const

Get cw_slope value.

CW Compliance Slope

Returns
cw_slope value

Definition at line 403 of file DynamixelServoInterface.cpp.

◆ enum_tostring()

const char * fawkes::DynamixelServoInterface::enum_tostring ( const char *  enumtype,
int  val 
) const
virtual

Convert arbitrary enum value to string.

Given the string representation of the enum type and the value this method returns the string representation of the specific value, or the string UNKNOWN if the value is not defined. An exception is thrown if the enum type is invalid.

Parameters
enumtypeenum type as string
valvalue to convert
Returns
string representation of value
Exceptions
UnknownTypeExceptionthrown if enumtype is not specified for interface.

Implements fawkes::Interface.

Definition at line 1320 of file DynamixelServoInterface.cpp.

◆ error()

uint8_t fawkes::DynamixelServoInterface::error ( ) const

Get error value.

Raw error code from servo. The bitmask is set as follows (taken from Trossen Robotics PDF "AX-12(English).pdf"): Bit 7: 0 Bit 6: Set to 1 if an undefined instruction is sent or an action instruction is sent without a Reg_Write instruction. Bit 5: Set to 1 if the specified maximum torque can't control the applied load. Bit 4: Set to 1 if the checksum of the instruction packet is incorrect. Bit 3: Set to 1 if the instruction sent is out of the defined range. Bit 2: Set to 1 if the internal temperature of the Dynamixel unit is above the operating temperature range as defined in the control table. Bit 1: Set as 1 if the Goal Position is set outside of the range between CW Angle Limit and CCW Angle Limit. Bit 0: Set to 1 if the voltage is out of the operating voltage range as defined in the control table.

Returns
error value

Definition at line 805 of file DynamixelServoInterface.cpp.

◆ error_code()

DynamixelServoInterface::ErrorCode fawkes::DynamixelServoInterface::error_code ( ) const

Get error_code value.

Failure code set if final is true. ERROR_NONE if no error occured.

Returns
error_code value

Definition at line 1229 of file DynamixelServoInterface.cpp.

◆ goal_position()

uint32_t fawkes::DynamixelServoInterface::goal_position ( ) const

Get goal_position value.

Goal position

Returns
goal_position value

Definition at line 465 of file DynamixelServoInterface.cpp.

◆ goal_speed()

uint32_t fawkes::DynamixelServoInterface::goal_speed ( ) const

Get goal_speed value.

Goal speed

Returns
goal_speed value

Definition at line 496 of file DynamixelServoInterface.cpp.

◆ is_autorecover_enabled()

bool fawkes::DynamixelServoInterface::is_autorecover_enabled ( ) const

Get autorecover_enabled value.

Automatically recover on alarm shutdown

Returns
autorecover_enabled value

Definition at line 1131 of file DynamixelServoInterface.cpp.

◆ is_enable_prevent_alarm_shutdown()

bool fawkes::DynamixelServoInterface::is_enable_prevent_alarm_shutdown ( ) const

Get enable_prevent_alarm_shutdown value.

Enable alarm shutdown

Returns
enable_prevent_alarm_shutdown value

Definition at line 846 of file DynamixelServoInterface.cpp.

◆ is_enabled()

bool fawkes::DynamixelServoInterface::is_enabled ( ) const

Get enabled value.

Is the servo enabled?

Returns
enabled value

Definition at line 908 of file DynamixelServoInterface.cpp.

◆ is_final()

bool fawkes::DynamixelServoInterface::is_final ( ) const

Get final value.

True, if the last goto command has been finished, false if it is still running

Returns
final value

Definition at line 1196 of file DynamixelServoInterface.cpp.

◆ load()

uint32_t fawkes::DynamixelServoInterface::load ( ) const

Get load value.

Present load

Returns
load value

Definition at line 620 of file DynamixelServoInterface.cpp.

◆ max_angle()

float fawkes::DynamixelServoInterface::max_angle ( ) const

Get max_angle value.

Maximum angle allowed.

Returns
max_angle value

Definition at line 970 of file DynamixelServoInterface.cpp.

◆ max_torque()

uint32_t fawkes::DynamixelServoInterface::max_torque ( ) const

Get max_torque value.

Max torque

Returns
max_torque value

Definition at line 310 of file DynamixelServoInterface.cpp.

◆ max_velocity()

float fawkes::DynamixelServoInterface::max_velocity ( ) const

Get max_velocity value.

Maximum supported velocity.

Returns
max_velocity value

Definition at line 1001 of file DynamixelServoInterface.cpp.

◆ maxlenof_alarm_shutdown()

size_t fawkes::DynamixelServoInterface::maxlenof_alarm_shutdown ( ) const

Get maximum length of alarm_shutdown value.

Returns
length of alarm_shutdown value, can be length of the array or number of maximum number of characters for a string

Definition at line 764 of file DynamixelServoInterface.cpp.

◆ maxlenof_angle()

size_t fawkes::DynamixelServoInterface::maxlenof_angle ( ) const

Get maximum length of angle value.

Returns
length of angle value, can be length of the array or number of maximum number of characters for a string

Definition at line 887 of file DynamixelServoInterface.cpp.

◆ maxlenof_angle_margin()

size_t fawkes::DynamixelServoInterface::maxlenof_angle_margin ( ) const

Get maximum length of angle_margin value.

Returns
length of angle_margin value, can be length of the array or number of maximum number of characters for a string

Definition at line 1107 of file DynamixelServoInterface.cpp.

◆ maxlenof_autorecover_enabled()

size_t fawkes::DynamixelServoInterface::maxlenof_autorecover_enabled ( ) const

Get maximum length of autorecover_enabled value.

Returns
length of autorecover_enabled value, can be length of the array or number of maximum number of characters for a string

Definition at line 1141 of file DynamixelServoInterface.cpp.

◆ maxlenof_ccw_angle_limit()

size_t fawkes::DynamixelServoInterface::maxlenof_ccw_angle_limit ( ) const

Get maximum length of ccw_angle_limit value.

Returns
length of ccw_angle_limit value, can be length of the array or number of maximum number of characters for a string

Definition at line 258 of file DynamixelServoInterface.cpp.

◆ maxlenof_ccw_margin()

size_t fawkes::DynamixelServoInterface::maxlenof_ccw_margin ( ) const

Get maximum length of ccw_margin value.

Returns
length of ccw_margin value, can be length of the array or number of maximum number of characters for a string

Definition at line 382 of file DynamixelServoInterface.cpp.

◆ maxlenof_ccw_slope()

size_t fawkes::DynamixelServoInterface::maxlenof_ccw_slope ( ) const

Get maximum length of ccw_slope value.

Returns
length of ccw_slope value, can be length of the array or number of maximum number of characters for a string

Definition at line 444 of file DynamixelServoInterface.cpp.

◆ maxlenof_cw_angle_limit()

size_t fawkes::DynamixelServoInterface::maxlenof_cw_angle_limit ( ) const

Get maximum length of cw_angle_limit value.

Returns
length of cw_angle_limit value, can be length of the array or number of maximum number of characters for a string

Definition at line 227 of file DynamixelServoInterface.cpp.

◆ maxlenof_cw_margin()

size_t fawkes::DynamixelServoInterface::maxlenof_cw_margin ( ) const

Get maximum length of cw_margin value.

Returns
length of cw_margin value, can be length of the array or number of maximum number of characters for a string

Definition at line 351 of file DynamixelServoInterface.cpp.

◆ maxlenof_cw_slope()

size_t fawkes::DynamixelServoInterface::maxlenof_cw_slope ( ) const

Get maximum length of cw_slope value.

Returns
length of cw_slope value, can be length of the array or number of maximum number of characters for a string

Definition at line 413 of file DynamixelServoInterface.cpp.

◆ maxlenof_enable_prevent_alarm_shutdown()

size_t fawkes::DynamixelServoInterface::maxlenof_enable_prevent_alarm_shutdown ( ) const

Get maximum length of enable_prevent_alarm_shutdown value.

Returns
length of enable_prevent_alarm_shutdown value, can be length of the array or number of maximum number of characters for a string

Definition at line 856 of file DynamixelServoInterface.cpp.

◆ maxlenof_enabled()

size_t fawkes::DynamixelServoInterface::maxlenof_enabled ( ) const

Get maximum length of enabled value.

Returns
length of enabled value, can be length of the array or number of maximum number of characters for a string

Definition at line 918 of file DynamixelServoInterface.cpp.

◆ maxlenof_error()

size_t fawkes::DynamixelServoInterface::maxlenof_error ( ) const

Get maximum length of error value.

Returns
length of error value, can be length of the array or number of maximum number of characters for a string

Definition at line 815 of file DynamixelServoInterface.cpp.

◆ maxlenof_error_code()

size_t fawkes::DynamixelServoInterface::maxlenof_error_code ( ) const

Get maximum length of error_code value.

Returns
length of error_code value, can be length of the array or number of maximum number of characters for a string

Definition at line 1239 of file DynamixelServoInterface.cpp.

◆ maxlenof_final()

size_t fawkes::DynamixelServoInterface::maxlenof_final ( ) const

Get maximum length of final value.

Returns
length of final value, can be length of the array or number of maximum number of characters for a string

Definition at line 1206 of file DynamixelServoInterface.cpp.

◆ maxlenof_goal_position()

size_t fawkes::DynamixelServoInterface::maxlenof_goal_position ( ) const

Get maximum length of goal_position value.

Returns
length of goal_position value, can be length of the array or number of maximum number of characters for a string

Definition at line 475 of file DynamixelServoInterface.cpp.

◆ maxlenof_goal_speed()

size_t fawkes::DynamixelServoInterface::maxlenof_goal_speed ( ) const

Get maximum length of goal_speed value.

Returns
length of goal_speed value, can be length of the array or number of maximum number of characters for a string

Definition at line 506 of file DynamixelServoInterface.cpp.

◆ maxlenof_load()

size_t fawkes::DynamixelServoInterface::maxlenof_load ( ) const

Get maximum length of load value.

Returns
length of load value, can be length of the array or number of maximum number of characters for a string

Definition at line 630 of file DynamixelServoInterface.cpp.

◆ maxlenof_max_angle()

size_t fawkes::DynamixelServoInterface::maxlenof_max_angle ( ) const

Get maximum length of max_angle value.

Returns
length of max_angle value, can be length of the array or number of maximum number of characters for a string

Definition at line 980 of file DynamixelServoInterface.cpp.

◆ maxlenof_max_torque()

size_t fawkes::DynamixelServoInterface::maxlenof_max_torque ( ) const

Get maximum length of max_torque value.

Returns
length of max_torque value, can be length of the array or number of maximum number of characters for a string

Definition at line 320 of file DynamixelServoInterface.cpp.

◆ maxlenof_max_velocity()

size_t fawkes::DynamixelServoInterface::maxlenof_max_velocity ( ) const

Get maximum length of max_velocity value.

Returns
length of max_velocity value, can be length of the array or number of maximum number of characters for a string

Definition at line 1011 of file DynamixelServoInterface.cpp.

◆ maxlenof_min_angle()

size_t fawkes::DynamixelServoInterface::maxlenof_min_angle ( ) const

Get maximum length of min_angle value.

Returns
length of min_angle value, can be length of the array or number of maximum number of characters for a string

Definition at line 949 of file DynamixelServoInterface.cpp.

◆ maxlenof_mode()

size_t fawkes::DynamixelServoInterface::maxlenof_mode ( ) const

Get maximum length of mode value.

Returns
length of mode value, can be length of the array or number of maximum number of characters for a string

Definition at line 1073 of file DynamixelServoInterface.cpp.

◆ maxlenof_model()

size_t fawkes::DynamixelServoInterface::maxlenof_model ( ) const

Get maximum length of model value.

Returns
length of model value, can be length of the array or number of maximum number of characters for a string

Definition at line 165 of file DynamixelServoInterface.cpp.

◆ maxlenof_model_number()

size_t fawkes::DynamixelServoInterface::maxlenof_model_number ( ) const

Get maximum length of model_number value.

Returns
length of model_number value, can be length of the array or number of maximum number of characters for a string

Definition at line 196 of file DynamixelServoInterface.cpp.

◆ maxlenof_msgid()

size_t fawkes::DynamixelServoInterface::maxlenof_msgid ( ) const

Get maximum length of msgid value.

Returns
length of msgid value, can be length of the array or number of maximum number of characters for a string

Definition at line 1173 of file DynamixelServoInterface.cpp.

◆ maxlenof_position()

size_t fawkes::DynamixelServoInterface::maxlenof_position ( ) const

Get maximum length of position value.

Returns
length of position value, can be length of the array or number of maximum number of characters for a string

Definition at line 568 of file DynamixelServoInterface.cpp.

◆ maxlenof_punch()

size_t fawkes::DynamixelServoInterface::maxlenof_punch ( ) const

Get maximum length of punch value.

Returns
length of punch value, can be length of the array or number of maximum number of characters for a string

Definition at line 723 of file DynamixelServoInterface.cpp.

◆ maxlenof_speed()

size_t fawkes::DynamixelServoInterface::maxlenof_speed ( ) const

Get maximum length of speed value.

Returns
length of speed value, can be length of the array or number of maximum number of characters for a string

Definition at line 599 of file DynamixelServoInterface.cpp.

◆ maxlenof_temperature()

size_t fawkes::DynamixelServoInterface::maxlenof_temperature ( ) const

Get maximum length of temperature value.

Returns
length of temperature value, can be length of the array or number of maximum number of characters for a string

Definition at line 692 of file DynamixelServoInterface.cpp.

◆ maxlenof_temperature_limit()

size_t fawkes::DynamixelServoInterface::maxlenof_temperature_limit ( ) const

Get maximum length of temperature_limit value.

Returns
length of temperature_limit value, can be length of the array or number of maximum number of characters for a string

Definition at line 289 of file DynamixelServoInterface.cpp.

◆ maxlenof_torque_limit()

size_t fawkes::DynamixelServoInterface::maxlenof_torque_limit ( ) const

Get maximum length of torque_limit value.

Returns
length of torque_limit value, can be length of the array or number of maximum number of characters for a string

Definition at line 537 of file DynamixelServoInterface.cpp.

◆ maxlenof_velocity()

size_t fawkes::DynamixelServoInterface::maxlenof_velocity ( ) const

Get maximum length of velocity value.

Returns
length of velocity value, can be length of the array or number of maximum number of characters for a string

Definition at line 1042 of file DynamixelServoInterface.cpp.

◆ maxlenof_voltage()

size_t fawkes::DynamixelServoInterface::maxlenof_voltage ( ) const

Get maximum length of voltage value.

Returns
length of voltage value, can be length of the array or number of maximum number of characters for a string

Definition at line 661 of file DynamixelServoInterface.cpp.

◆ message_valid()

bool fawkes::DynamixelServoInterface::message_valid ( const Message message) const
virtual

Check if message is valid and can be enqueued.

Parameters
messageMessage to check
Returns
true if the message is valid, false otherwise.

Implements fawkes::Interface.

Definition at line 3253 of file DynamixelServoInterface.cpp.

◆ min_angle()

float fawkes::DynamixelServoInterface::min_angle ( ) const

Get min_angle value.

Minimum angle allowed.

Returns
min_angle value

Definition at line 939 of file DynamixelServoInterface.cpp.

◆ mode()

char * fawkes::DynamixelServoInterface::mode ( ) const

Get mode value.

Working mode, can either be JOINT or WHEEL

Returns
mode value

Definition at line 1063 of file DynamixelServoInterface.cpp.

◆ model()

char * fawkes::DynamixelServoInterface::model ( ) const

Get model value.

Model if known

Returns
model value

Definition at line 155 of file DynamixelServoInterface.cpp.

◆ model_number()

uint32_t fawkes::DynamixelServoInterface::model_number ( ) const

Get model_number value.

Model number

Returns
model_number value

Definition at line 186 of file DynamixelServoInterface.cpp.

◆ msgid()

uint32_t fawkes::DynamixelServoInterface::msgid ( ) const

Get msgid value.

The ID of the message that is currently being processed, or 0 if no message is being processed.

Returns
msgid value

Definition at line 1163 of file DynamixelServoInterface.cpp.

◆ position()

uint32_t fawkes::DynamixelServoInterface::position ( ) const

Get position value.

Present position

Returns
position value

Definition at line 558 of file DynamixelServoInterface.cpp.

◆ punch()

uint32_t fawkes::DynamixelServoInterface::punch ( ) const

Get punch value.

Punch

Returns
punch value

Definition at line 713 of file DynamixelServoInterface.cpp.

◆ set_alarm_shutdown()

void fawkes::DynamixelServoInterface::set_alarm_shutdown ( const uint8_t  new_alarm_shutdown)

Set alarm_shutdown value.

Alarm Shutdown. The bitmask is set as follows (taken from Trossen Robotics PDF "AX-12(English).pdf"): Bit 7: 0 Bit 6: If set to 1, torque off when an Instruction Error occurs Bit 5: If set to 1, torque off when an Overload Error occurs Bit 4: If set to 1, torque off when a Checksum Error occurs Bit 3: If set to 1, torque off when a Range Error occurs Bit 2: If set to 1, torque off when an Overheating Error occurs Bit 1: If set to 1, torque off when an Angle Limit Error occurs Bit 0: If set to 1, torque off when an Input Voltage Error occurs

Parameters
new_alarm_shutdownnew alarm_shutdown value

Definition at line 784 of file DynamixelServoInterface.cpp.

◆ set_angle()

void fawkes::DynamixelServoInterface::set_angle ( const float  new_angle)

Set angle value.

Current angle.

Parameters
new_anglenew angle value

Definition at line 897 of file DynamixelServoInterface.cpp.

◆ set_angle_margin()

void fawkes::DynamixelServoInterface::set_angle_margin ( const float  new_angle_margin)

Set angle_margin value.

Margin in radians around a target servo value to consider the motion as final.

Parameters
new_angle_marginnew angle_margin value

Definition at line 1120 of file DynamixelServoInterface.cpp.

◆ set_autorecover_enabled()

void fawkes::DynamixelServoInterface::set_autorecover_enabled ( const bool  new_autorecover_enabled)

Set autorecover_enabled value.

Automatically recover on alarm shutdown

Parameters
new_autorecover_enablednew autorecover_enabled value

Definition at line 1151 of file DynamixelServoInterface.cpp.

◆ set_ccw_angle_limit()

void fawkes::DynamixelServoInterface::set_ccw_angle_limit ( const uint32_t  new_ccw_angle_limit)

Set ccw_angle_limit value.

Counter-clockwise angle limit

Parameters
new_ccw_angle_limitnew ccw_angle_limit value

Definition at line 268 of file DynamixelServoInterface.cpp.

◆ set_ccw_margin()

void fawkes::DynamixelServoInterface::set_ccw_margin ( const uint8_t  new_ccw_margin)

Set ccw_margin value.

CCW Compliance Margin

Parameters
new_ccw_marginnew ccw_margin value

Definition at line 392 of file DynamixelServoInterface.cpp.

◆ set_ccw_slope()

void fawkes::DynamixelServoInterface::set_ccw_slope ( const uint8_t  new_ccw_slope)

Set ccw_slope value.

CCW Compliance Slope

Parameters
new_ccw_slopenew ccw_slope value

Definition at line 454 of file DynamixelServoInterface.cpp.

◆ set_cw_angle_limit()

void fawkes::DynamixelServoInterface::set_cw_angle_limit ( const uint32_t  new_cw_angle_limit)

Set cw_angle_limit value.

Clockwise angle limit

Parameters
new_cw_angle_limitnew cw_angle_limit value

Definition at line 237 of file DynamixelServoInterface.cpp.

◆ set_cw_margin()

void fawkes::DynamixelServoInterface::set_cw_margin ( const uint8_t  new_cw_margin)

Set cw_margin value.

CW Compliance Margin

Parameters
new_cw_marginnew cw_margin value

Definition at line 361 of file DynamixelServoInterface.cpp.

◆ set_cw_slope()

void fawkes::DynamixelServoInterface::set_cw_slope ( const uint8_t  new_cw_slope)

Set cw_slope value.

CW Compliance Slope

Parameters
new_cw_slopenew cw_slope value

Definition at line 423 of file DynamixelServoInterface.cpp.

◆ set_enable_prevent_alarm_shutdown()

void fawkes::DynamixelServoInterface::set_enable_prevent_alarm_shutdown ( const bool  new_enable_prevent_alarm_shutdown)

Set enable_prevent_alarm_shutdown value.

Enable alarm shutdown

Parameters
new_enable_prevent_alarm_shutdownnew enable_prevent_alarm_shutdown value

Definition at line 866 of file DynamixelServoInterface.cpp.

◆ set_enabled()

void fawkes::DynamixelServoInterface::set_enabled ( const bool  new_enabled)

Set enabled value.

Is the servo enabled?

Parameters
new_enablednew enabled value

Definition at line 928 of file DynamixelServoInterface.cpp.

◆ set_error()

void fawkes::DynamixelServoInterface::set_error ( const uint8_t  new_error)

Set error value.

Raw error code from servo. The bitmask is set as follows (taken from Trossen Robotics PDF "AX-12(English).pdf"): Bit 7: 0 Bit 6: Set to 1 if an undefined instruction is sent or an action instruction is sent without a Reg_Write instruction. Bit 5: Set to 1 if the specified maximum torque can't control the applied load. Bit 4: Set to 1 if the checksum of the instruction packet is incorrect. Bit 3: Set to 1 if the instruction sent is out of the defined range. Bit 2: Set to 1 if the internal temperature of the Dynamixel unit is above the operating temperature range as defined in the control table. Bit 1: Set as 1 if the Goal Position is set outside of the range between CW Angle Limit and CCW Angle Limit. Bit 0: Set to 1 if the voltage is out of the operating voltage range as defined in the control table.

Parameters
new_errornew error value

Definition at line 835 of file DynamixelServoInterface.cpp.

◆ set_error_code()

void fawkes::DynamixelServoInterface::set_error_code ( const ErrorCode  new_error_code)

Set error_code value.

Failure code set if final is true. ERROR_NONE if no error occured.

Parameters
new_error_codenew error_code value

Definition at line 1250 of file DynamixelServoInterface.cpp.

◆ set_final()

void fawkes::DynamixelServoInterface::set_final ( const bool  new_final)

Set final value.

True, if the last goto command has been finished, false if it is still running

Parameters
new_finalnew final value

Definition at line 1217 of file DynamixelServoInterface.cpp.

◆ set_goal_position()

void fawkes::DynamixelServoInterface::set_goal_position ( const uint32_t  new_goal_position)

Set goal_position value.

Goal position

Parameters
new_goal_positionnew goal_position value

Definition at line 485 of file DynamixelServoInterface.cpp.

◆ set_goal_speed()

void fawkes::DynamixelServoInterface::set_goal_speed ( const uint32_t  new_goal_speed)

Set goal_speed value.

Goal speed

Parameters
new_goal_speednew goal_speed value

Definition at line 516 of file DynamixelServoInterface.cpp.

◆ set_load()

void fawkes::DynamixelServoInterface::set_load ( const uint32_t  new_load)

Set load value.

Present load

Parameters
new_loadnew load value

Definition at line 640 of file DynamixelServoInterface.cpp.

◆ set_max_angle()

void fawkes::DynamixelServoInterface::set_max_angle ( const float  new_max_angle)

Set max_angle value.

Maximum angle allowed.

Parameters
new_max_anglenew max_angle value

Definition at line 990 of file DynamixelServoInterface.cpp.

◆ set_max_torque()

void fawkes::DynamixelServoInterface::set_max_torque ( const uint32_t  new_max_torque)

Set max_torque value.

Max torque

Parameters
new_max_torquenew max_torque value

Definition at line 330 of file DynamixelServoInterface.cpp.

◆ set_max_velocity()

void fawkes::DynamixelServoInterface::set_max_velocity ( const float  new_max_velocity)

Set max_velocity value.

Maximum supported velocity.

Parameters
new_max_velocitynew max_velocity value

Definition at line 1021 of file DynamixelServoInterface.cpp.

◆ set_min_angle()

void fawkes::DynamixelServoInterface::set_min_angle ( const float  new_min_angle)

Set min_angle value.

Minimum angle allowed.

Parameters
new_min_anglenew min_angle value

Definition at line 959 of file DynamixelServoInterface.cpp.

◆ set_mode()

void fawkes::DynamixelServoInterface::set_mode ( const char *  new_mode)

Set mode value.

Working mode, can either be JOINT or WHEEL

Parameters
new_modenew mode value

Definition at line 1083 of file DynamixelServoInterface.cpp.

◆ set_model()

void fawkes::DynamixelServoInterface::set_model ( const char *  new_model)

Set model value.

Model if known

Parameters
new_modelnew model value

Definition at line 175 of file DynamixelServoInterface.cpp.

◆ set_model_number()

void fawkes::DynamixelServoInterface::set_model_number ( const uint32_t  new_model_number)

Set model_number value.

Model number

Parameters
new_model_numbernew model_number value

Definition at line 206 of file DynamixelServoInterface.cpp.

◆ set_msgid()

void fawkes::DynamixelServoInterface::set_msgid ( const uint32_t  new_msgid)

Set msgid value.

The ID of the message that is currently being processed, or 0 if no message is being processed.

Parameters
new_msgidnew msgid value

Definition at line 1184 of file DynamixelServoInterface.cpp.

◆ set_position()

void fawkes::DynamixelServoInterface::set_position ( const uint32_t  new_position)

Set position value.

Present position

Parameters
new_positionnew position value

Definition at line 578 of file DynamixelServoInterface.cpp.

◆ set_punch()

void fawkes::DynamixelServoInterface::set_punch ( const uint32_t  new_punch)

Set punch value.

Punch

Parameters
new_punchnew punch value

Definition at line 733 of file DynamixelServoInterface.cpp.

◆ set_speed()

void fawkes::DynamixelServoInterface::set_speed ( const uint32_t  new_speed)

Set speed value.

Present speed

Parameters
new_speednew speed value

Definition at line 609 of file DynamixelServoInterface.cpp.

◆ set_temperature()

void fawkes::DynamixelServoInterface::set_temperature ( const uint8_t  new_temperature)

Set temperature value.

Present temperature

Parameters
new_temperaturenew temperature value

Definition at line 702 of file DynamixelServoInterface.cpp.

◆ set_temperature_limit()

void fawkes::DynamixelServoInterface::set_temperature_limit ( const uint8_t  new_temperature_limit)

Set temperature_limit value.

Temperature limit

Parameters
new_temperature_limitnew temperature_limit value

Definition at line 299 of file DynamixelServoInterface.cpp.

◆ set_torque_limit()

void fawkes::DynamixelServoInterface::set_torque_limit ( const uint32_t  new_torque_limit)

Set torque_limit value.

Torque limit

Parameters
new_torque_limitnew torque_limit value

Definition at line 547 of file DynamixelServoInterface.cpp.

◆ set_velocity()

void fawkes::DynamixelServoInterface::set_velocity ( const float  new_velocity)

Set velocity value.

Maximum servo velocity currently reached.

Parameters
new_velocitynew velocity value

Definition at line 1052 of file DynamixelServoInterface.cpp.

◆ set_voltage()

void fawkes::DynamixelServoInterface::set_voltage ( const uint8_t  new_voltage)

Set voltage value.

Present voltage

Parameters
new_voltagenew voltage value

Definition at line 671 of file DynamixelServoInterface.cpp.

◆ speed()

uint32_t fawkes::DynamixelServoInterface::speed ( ) const

Get speed value.

Present speed

Returns
speed value

Definition at line 589 of file DynamixelServoInterface.cpp.

◆ temperature()

uint8_t fawkes::DynamixelServoInterface::temperature ( ) const

Get temperature value.

Present temperature

Returns
temperature value

Definition at line 682 of file DynamixelServoInterface.cpp.

◆ temperature_limit()

uint8_t fawkes::DynamixelServoInterface::temperature_limit ( ) const

Get temperature_limit value.

Temperature limit

Returns
temperature_limit value

Definition at line 279 of file DynamixelServoInterface.cpp.

◆ torque_limit()

uint32_t fawkes::DynamixelServoInterface::torque_limit ( ) const

Get torque_limit value.

Torque limit

Returns
torque_limit value

Definition at line 527 of file DynamixelServoInterface.cpp.

◆ tostring_ErrorCode()

const char * fawkes::DynamixelServoInterface::tostring_ErrorCode ( ErrorCode  value) const

Convert ErrorCode constant to string.

Parameters
valuevalue to convert to string
Returns
constant value as string.

Definition at line 126 of file DynamixelServoInterface.cpp.

◆ tostring_WorkingMode()

const char * fawkes::DynamixelServoInterface::tostring_WorkingMode ( WorkingMode  value) const

Convert WorkingMode constant to string.

Parameters
valuevalue to convert to string
Returns
constant value as string.

Definition at line 141 of file DynamixelServoInterface.cpp.

◆ velocity()

float fawkes::DynamixelServoInterface::velocity ( ) const

Get velocity value.

Maximum servo velocity currently reached.

Returns
velocity value

Definition at line 1032 of file DynamixelServoInterface.cpp.

◆ voltage()

uint8_t fawkes::DynamixelServoInterface::voltage ( ) const

Get voltage value.

Present voltage

Returns
voltage value

Definition at line 651 of file DynamixelServoInterface.cpp.


The documentation for this class was generated from the following files: