ttl_driver::DxlDriver< reg_type > Class Template Reference

The DxlDriver class. More...

#include <dxl_driver.hpp>

Inheritance diagram for ttl_driver::DxlDriver< reg_type >:

Public Member Functions
int	changeId (uint8_t id, uint8_t new_id) override
	DxlDriver<reg_type>::changeId. More...
int	checkModelNumber (uint8_t id) override
	DxlDriver<reg_type>::checkModelNumber. More...
	DxlDriver (std::shared_ptr< dynamixel::PortHandler > portHandler, std::shared_ptr< dynamixel::PacketHandler > packetHandler)
	DxlDriver<reg_type>::DxlDriver. More...
std::string	interpretErrorState (uint32_t hw_state) const
std::string	interpretErrorState (uint32_t hw_state) const
std::string	interpretErrorState (uint32_t hw_state) const
std::string	interpretErrorState (uint32_t hw_state) const
std::string	interpretErrorState (uint32_t hw_state) const
std::string	interpretErrorState (uint32_t hw_state) const
std::string	interpretErrorState (uint32_t hw_state) const override
	DxlDriver<reg_type>::interpretErrorState. More...
int	readControlMode (uint8_t id, uint8_t &control_mode) override
	DxlDriver<reg_type>::readControlMode. More...
int	readControlMode (uint8_t, uint8_t &)
int	readFirmwareVersion (uint8_t id, std::string &version) override
	DxlDriver<reg_type>::readFirmwareVersion. More...
int	readHwErrorStatus (uint8_t id, uint8_t &hardware_error_status) override
	DxlDriver<reg_type>::readHwErrorStatus. More...
int	readLoad (uint8_t id, uint16_t &present_load)
int	readLoad (uint8_t id, uint16_t &present_load)
int	readLoad (uint8_t id, uint16_t &present_load) override
	DxlDriver<reg_type>::readLoad. More...
int	readMaxPosition (uint8_t id, uint32_t &max_pos) override
	DxlDriver<reg_type>::readMaxPosition. More...
int	readMaxPosition (uint8_t, uint32_t &pos)
int	readMinPosition (uint8_t id, uint32_t &min_pos) override
	DxlDriver<reg_type>::readMinPosition. More...
int	readMinPosition (uint8_t, uint32_t &pos)
int	readMoving (uint8_t id, uint8_t &status) override
	DxlDriver<reg_type>::readMoving. More...
int	readPID (uint8_t id, std::vector< uint16_t > &data_list)
	DxlDriver<reg_type>::readPID : only position PID for XL320. More...
int	readPID (uint8_t id, std::vector< uint16_t > &data_list) override
	DxlDriver<reg_type>::readPID. More...
int	readPosition (uint8_t id, uint32_t &present_position)
int	readPosition (uint8_t id, uint32_t &present_position) override
	DxlDriver<reg_type>::readPosition. More...
int	readTemperature (uint8_t id, uint8_t &temperature) override
	DxlDriver<reg_type>::readTemperature. More...
int	readVelocity (uint8_t id, uint32_t &present_velocity)
int	readVelocity (uint8_t id, uint32_t &present_velocity) override
	DxlDriver<reg_type>::readVelocity. More...
int	readVelocityProfile (uint8_t id, std::vector< uint32_t > &data_list) override
int	readVelocityProfile (uint8_t, std::vector< uint32_t > &)
int	readVoltage (uint8_t id, double &voltage) override
	DxlDriver<reg_type>::readVoltage. More...
std::string	str () const override
	DxlDriver<reg_type>::str. More...
int	syncReadFirmwareVersion (const std::vector< uint8_t > &id_list, std::vector< std::string > &firmware_list) override
	DxlDriver<reg_type>::syncReadFirmwareVersion. More...
int	syncReadHwErrorStatus (const std::vector< uint8_t > &id_list, std::vector< uint8_t > &hw_error_list) override
	DxlDriver<reg_type>::syncReadHwErrorStatus. More...
int	syncReadHwStatus (const std::vector< uint8_t > &id_list, std::vector< std::pair< double, uint8_t >> &data_list)
	DxlDriver<reg_type>::syncReadHwStatus. More...
int	syncReadHwStatus (const std::vector< uint8_t > &id_list, std::vector< std::pair< double, uint8_t >> &data_list) override
	DxlDriver<reg_type>::syncReadHwStatus. More...
int	syncReadJointStatus (const std::vector< uint8_t > &id_list, std::vector< std::array< uint32_t, 2 >> &data_array_list)
	DxlDriver::syncReadJointStatus. More...
int	syncReadJointStatus (const std::vector< uint8_t > &id_list, std::vector< std::array< uint32_t, 2 >> &data_array_list) override
	DxlDriver::syncReadJointStatus. More...
int	syncReadLoad (const std::vector< uint8_t > &id_list, std::vector< uint16_t > &load_list)
int	syncReadLoad (const std::vector< uint8_t > &id_list, std::vector< uint16_t > &load_list)
int	syncReadLoad (const std::vector< uint8_t > &id_list, std::vector< uint16_t > &load_list) override
	DxlDriver<reg_type>::syncReadLoad. More...
int	syncReadPosition (const std::vector< uint8_t > &id_list, std::vector< uint32_t > &position_list)
int	syncReadPosition (const std::vector< uint8_t > &id_list, std::vector< uint32_t > &position_list) override
	DxlDriver<reg_type>::syncReadPosition. More...
int	syncReadRawVoltage (const std::vector< uint8_t > &id_list, std::vector< double > &voltage_list) override
	DxlDriver<reg_type>::syncReadRawVoltage. More...
int	syncReadTemperature (const std::vector< uint8_t > &id_list, std::vector< uint8_t > &temperature_list) override
	DxlDriver<reg_type>::syncReadTemperature. More...
int	syncReadVelocity (const std::vector< uint8_t > &id_list, std::vector< uint32_t > &velocity_list)
int	syncReadVelocity (const std::vector< uint8_t > &id_list, std::vector< uint32_t > &velocity_list) override
	DxlDriver<reg_type>::syncReadVelocity. More...
int	syncReadVoltage (const std::vector< uint8_t > &id_list, std::vector< double > &voltage_list) override
	DxlDriver<reg_type>::syncReadVoltage. More...
int	syncWriteLed (const std::vector< uint8_t > &id_list, const std::vector< uint8_t > &led_list) override
	DxlDriver<reg_type>::syncWriteLed. More...
int	syncWritePositionGoal (const std::vector< uint8_t > &id_list, const std::vector< uint32_t > &position_list)
	DxlDriver<reg_type>::syncWritePositionGoal. More...
int	syncWritePositionGoal (const std::vector< uint8_t > &id_list, const std::vector< uint32_t > &position_list) override
	DxlDriver<reg_type>::syncWritePositionGoal. More...
int	syncWriteTorqueGoal (const std::vector< uint8_t > &, const std::vector< uint16_t > &)
int	syncWriteTorqueGoal (const std::vector< uint8_t > &, const std::vector< uint16_t > &)
int	syncWriteTorqueGoal (const std::vector< uint8_t > &id_list, const std::vector< uint16_t > &torque_list)
int	syncWriteTorqueGoal (const std::vector< uint8_t > &id_list, const std::vector< uint16_t > &torque_list)
int	syncWriteTorqueGoal (const std::vector< uint8_t > &id_list, const std::vector< uint16_t > &torque_list)
int	syncWriteTorqueGoal (const std::vector< uint8_t > &id_list, const std::vector< uint16_t > &torque_list) override
	DxlDriver<reg_type>::syncWriteTorqueGoal. More...
int	syncWriteTorquePercentage (const std::vector< uint8_t > &id_list, const std::vector< uint8_t > &torque_percentage_list) override
	DxlDriver<reg_type>::syncWriteTorquePercentage. More...
int	syncWriteVelocityGoal (const std::vector< uint8_t > &id_list, const std::vector< uint32_t > &velocity_list)
	DxlDriver<reg_type>::syncWriteVelocityGoal. More...
int	syncWriteVelocityGoal (const std::vector< uint8_t > &id_list, const std::vector< uint32_t > &velocity_list) override
	DxlDriver<reg_type>::syncWriteVelocityGoal. More...
int	writeControlMode (uint8_t id, uint8_t control_mode) override
	DxlDriver<reg_type>::writeControlMode. More...
int	writeLed (uint8_t id, uint8_t led_value) override
	DxlDriver<reg_type>::writeLed. More...
int	writePID (uint8_t id, const std::vector< uint16_t > &data) override
	DxlDriver<reg_type>::writePID. More...
int	writePID (uint8_t id, const std::vector< uint16_t > &data_list)
	DxlDriver<reg_type>::writePID : only position PID for XL320. More...
int	writePositionGoal (uint8_t id, uint32_t position) override
	DxlDriver<reg_type>::writePositionGoal. More...
int	writeShutdownConfiguration (uint8_t id, uint8_t configuration)
int	writeShutdownConfiguration (uint8_t id, uint8_t configuration) override
	DxlDriver<reg_type>::writeShutdownConfiguration. More...
int	writeStartupConfiguration (uint8_t id, uint8_t config) override
	DxlDriver<reg_type>::writeStartupConfiguration. More...
int	writeStartupConfiguration (uint8_t, uint8_t)
int	writeTemperatureLimit (uint8_t id, uint8_t temperature_limit)
int	writeTemperatureLimit (uint8_t id, uint8_t temperature_limit) override
	DxlDriver<reg_type>::writeTemperatureLimit. More...
int	writeTorqueGoal (uint8_t id, uint16_t torque)
int	writeTorqueGoal (uint8_t id, uint16_t torque)
int	writeTorqueGoal (uint8_t id, uint16_t torque)
int	writeTorqueGoal (uint8_t id, uint16_t torque) override
	DxlDriver<reg_type>::writeTorqueGoal. More...
int	writeTorqueGoal (uint8_t, uint16_t)
int	writeTorqueGoal (uint8_t, uint16_t)
int	writeTorquePercentage (uint8_t id, uint8_t torque_percentage) override
	DxlDriver<reg_type>::writeTorquePercentage. More...
int	writeVelocityGoal (uint8_t id, uint32_t velocity) override
	DxlDriver<reg_type>::writeVelocityGoal. More...
int	writeVelocityProfile (uint8_t id, const std::vector< uint32_t > &data_list) override
	DxlDriver<reg_type>::writeVelocityProfile Write velocity profile for dxl. More...
int	writeVelocityProfile (uint8_t, const std::vector< uint32_t > &)
Public Member Functions inherited from ttl_driver::AbstractDxlDriver
	AbstractDxlDriver ()=default
	AbstractDxlDriver (std::shared_ptr< dynamixel::PortHandler > portHandler, std::shared_ptr< dynamixel::PacketHandler > packetHandler)
	AbstractDxlDriver::AbstractDxlDriver. More...
int	writeSingleCmd (const std::unique_ptr< common::model::AbstractTtlSingleMotorCmd > &cmd) override
	AbstractDxlDriver::writeSingleCmd. More...
int	writeSyncCmd (int type, const std::vector< uint8_t > &ids, const std::vector< uint32_t > &params) override
	AbstractDxlDriver::writeSyncCmd. More...
Public Member Functions inherited from ttl_driver::AbstractMotorDriver
	AbstractMotorDriver ()=default
	AbstractMotorDriver (std::shared_ptr< dynamixel::PortHandler > portHandler, std::shared_ptr< dynamixel::PacketHandler > packetHandler)
virtual int	syncReadJointStatus (const std::vector< uint8_t > &id_list, std::vector< std::array< uint32_t, 2 > > &data_array_list)=0
Public Member Functions inherited from ttl_driver::AbstractTtlDriver
	AbstractTtlDriver ()=default
	AbstractTtlDriver (std::shared_ptr< dynamixel::PortHandler > portHandler, std::shared_ptr< dynamixel::PacketHandler > packetHandler)
	AbstractTtlDriver::AbstractTtlDriver. More...
virtual int	getModelNumber (uint8_t id, uint16_t &model_number)
	AbstractTtlDriver::getModelNumber. More...
virtual int	ping (uint8_t id)
	AbstractTtlDriver::ping. More...
virtual int	readCustom (uint16_t address, uint8_t data_len, uint8_t id, uint32_t &data)
	AbstractTtlDriver::readCustom. More...
virtual int	reboot (uint8_t id)
	AbstractTtlDriver::reboot. More...
virtual int	scan (std::vector< uint8_t > &id_list)
	AbstractTtlDriver::scan. More...
virtual int	syncReadHwStatus (const std::vector< uint8_t > &id_list, std::vector< std::pair< double, uint8_t > > &data_array_list)=0
virtual int	writeCustom (uint16_t address, uint8_t data_len, uint8_t id, uint32_t data)
	AbstractTtlDriver::writeCustom. More...
virtual	~AbstractTtlDriver ()=default

Protected Member Functions
std::string	interpretFirmwareVersion (uint32_t fw_version) const override
	DxlDriver<reg_type>::interpretFirmwareVersion. More...
Protected Member Functions inherited from ttl_driver::AbstractTtlDriver
	AbstractTtlDriver (AbstractTtlDriver &&)=default
	AbstractTtlDriver (const AbstractTtlDriver &)=default
AbstractTtlDriver &	operator= (AbstractTtlDriver &&)=default
AbstractTtlDriver &	operator= (const AbstractTtlDriver &)=default
template<typename T >
int	read (uint16_t address, uint8_t id, T &data)
	AbstractTtlDriver::read. More...
template<typename T >
int	syncRead (uint16_t address, const std::vector< uint8_t > &id_list, std::vector< T > &data_list)
	AbstractTtlDriver::syncRead. More...
template<typename T , const size_t N>
int	syncReadConsecutiveBytes (uint16_t address, const std::vector< uint8_t > &id_list, std::vector< std::array< T, N > > &data_list)
	AbstractTtlDriver::syncReadConsecutiveBytes. More...
template<typename T >
int	syncWrite (uint16_t address, const std::vector< uint8_t > &id_list, const std::vector< T > &data_list)
template<typename T >
int	write (uint16_t address, uint8_t id, T data)

Additional Inherited Members
Static Protected Attributes inherited from ttl_driver::AbstractTtlDriver
static constexpr int	PING_WRONG_MODEL_NUMBER = 30

Detailed Description

template<typename reg_type>
class ttl_driver::DxlDriver< reg_type >

The DxlDriver class.

Definition at line 44 of file dxl_driver.hpp.

Constructor & Destructor Documentation

DxlDriver()

template<typename reg_type >

ttl_driver::DxlDriver< reg_type >::DxlDriver	(	std::shared_ptr< dynamixel::PortHandler >	portHandler,
		std::shared_ptr< dynamixel::PacketHandler >	packetHandler
	)

DxlDriver<reg_type>::DxlDriver.

Definition at line 143 of file dxl_driver.hpp.

Member Function Documentation

changeId()

template<typename reg_type >

int ttl_driver::DxlDriver< reg_type >::changeId ( uint8_t  id, uint8_t  new_id  )

overridevirtual

DxlDriver<reg_type>::changeId.

Parameters

id
new_id

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 193 of file dxl_driver.hpp.

checkModelNumber()

template<typename reg_type >

int ttl_driver::DxlDriver< reg_type >::checkModelNumber ( uint8_t  id )

overridevirtual

DxlDriver<reg_type>::checkModelNumber.

Parameters

id

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 204 of file dxl_driver.hpp.

interpretErrorState() [1/7]

std::string ttl_driver::DxlDriver< XL320Reg >::interpretErrorState ( uint32_t  hw_state ) const

inlinevirtual

Implements ttl_driver::AbstractTtlDriver.

Definition at line 955 of file dxl_driver.hpp.

interpretErrorState() [2/7]

std::string ttl_driver::DxlDriver< XL430Reg >::interpretErrorState ( uint32_t  hw_state ) const

inlinevirtual

Implements ttl_driver::AbstractTtlDriver.

Definition at line 1228 of file dxl_driver.hpp.

interpretErrorState() [3/7]

std::string ttl_driver::DxlDriver< XC430Reg >::interpretErrorState ( uint32_t  hw_state ) const

inlinevirtual

Implements ttl_driver::AbstractTtlDriver.

Definition at line 1289 of file dxl_driver.hpp.

interpretErrorState() [4/7]

std::string ttl_driver::DxlDriver< XM430Reg >::interpretErrorState ( uint32_t  hw_state ) const

inlinevirtual

Implements ttl_driver::AbstractTtlDriver.

Definition at line 1350 of file dxl_driver.hpp.

interpretErrorState() [5/7]

std::string ttl_driver::DxlDriver< XL330Reg >::interpretErrorState ( uint32_t  hw_state ) const

inlinevirtual

Implements ttl_driver::AbstractTtlDriver.

Definition at line 1423 of file dxl_driver.hpp.

interpretErrorState() [6/7]

std::string ttl_driver::DxlDriver< XH430Reg >::interpretErrorState ( uint32_t  hw_state ) const

inlinevirtual

Implements ttl_driver::AbstractTtlDriver.

Definition at line 1508 of file dxl_driver.hpp.

interpretErrorState() [7/7]

template<typename reg_type >

std::string ttl_driver::DxlDriver< reg_type >::interpretErrorState ( uint32_t  hw_state ) const

overridevirtual

DxlDriver<reg_type>::interpretErrorState.

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 168 of file dxl_driver.hpp.

interpretFirmwareVersion()

template<typename reg_type >

std::string ttl_driver::DxlDriver< reg_type >::interpretFirmwareVersion ( uint32_t  fw_version ) const

overrideprotectedvirtual

DxlDriver<reg_type>::interpretFirmwareVersion.

Parameters

fw_version

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 179 of file dxl_driver.hpp.

readControlMode() [1/2]

template<typename reg_type >

int ttl_driver::DxlDriver< reg_type >::readControlMode ( uint8_t  id, uint8_t &  control_mode  )

overridevirtual

DxlDriver<reg_type>::readControlMode.

Parameters

id
control_mode

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 827 of file dxl_driver.hpp.

readControlMode() [2/2]

int ttl_driver::DxlDriver< XL320Reg >::readControlMode ( uint8_t  , uint8_t &    )

inlinevirtual

Implements ttl_driver::AbstractMotorDriver.

Definition at line 1219 of file dxl_driver.hpp.

readFirmwareVersion()

template<typename reg_type >

int ttl_driver::DxlDriver< reg_type >::readFirmwareVersion ( uint8_t  id, std::string &  version  )

overridevirtual

DxlDriver<reg_type>::readFirmwareVersion.

Parameters

id
version

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 227 of file dxl_driver.hpp.

readHwErrorStatus()

template<typename reg_type >

int ttl_driver::DxlDriver< reg_type >::readHwErrorStatus ( uint8_t  id, uint8_t &  hardware_error_status  )

overridevirtual

DxlDriver<reg_type>::readHwErrorStatus.

Parameters

id
hardware_error_status

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 492 of file dxl_driver.hpp.

readLoad() [1/3]

int ttl_driver::DxlDriver< XM430Reg >::readLoad ( uint8_t  id, uint16_t &  present_load  )

inlinevirtual

Implements ttl_driver::AbstractDxlDriver.

Definition at line 1409 of file dxl_driver.hpp.

readLoad() [2/3]

int ttl_driver::DxlDriver< XL330Reg >::readLoad ( uint8_t  id, uint16_t &  present_load  )

inlinevirtual

Implements ttl_driver::AbstractDxlDriver.

Definition at line 1482 of file dxl_driver.hpp.

readLoad() [3/3]

template<typename reg_type >

int ttl_driver::DxlDriver< reg_type >::readLoad ( uint8_t  id, uint16_t &  present_load  )

overridevirtual

DxlDriver<reg_type>::readLoad.

Parameters

id
present_load

Returns

Implements ttl_driver::AbstractDxlDriver.

Definition at line 844 of file dxl_driver.hpp.

readMaxPosition() [1/2]

template<typename reg_type >

int ttl_driver::DxlDriver< reg_type >::readMaxPosition ( uint8_t  id, uint32_t &  pos  )

overridevirtual

DxlDriver<reg_type>::readMaxPosition.

Parameters

id
pos

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 307 of file dxl_driver.hpp.

readMaxPosition() [2/2]

int ttl_driver::DxlDriver< XL320Reg >::readMaxPosition ( uint8_t  , uint32_t &  pos  )

inlinevirtual

Implements ttl_driver::AbstractMotorDriver.

Definition at line 947 of file dxl_driver.hpp.

readMinPosition() [1/2]

template<typename reg_type >

int ttl_driver::DxlDriver< reg_type >::readMinPosition ( uint8_t  id, uint32_t &  pos  )

overridevirtual

DxlDriver<reg_type>::readMinPosition.

Parameters

id
pos

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 295 of file dxl_driver.hpp.

readMinPosition() [2/2]

int ttl_driver::DxlDriver< XL320Reg >::readMinPosition ( uint8_t  , uint32_t &  pos  )

inlinevirtual

Implements ttl_driver::AbstractMotorDriver.

Definition at line 939 of file dxl_driver.hpp.

readMoving()

template<typename reg_type >

int ttl_driver::DxlDriver< reg_type >::readMoving ( uint8_t  id, uint8_t &  status  )

overridevirtual

DxlDriver<reg_type>::readMoving.

Parameters

id
status

Returns

Implements ttl_driver::AbstractDxlDriver.

Definition at line 793 of file dxl_driver.hpp.

readPID() [1/2]

int ttl_driver::DxlDriver< XL320Reg >::readPID ( uint8_t  id, std::vector< uint16_t > &  data_list  )

inlinevirtual

DxlDriver<reg_type>::readPID : only position PID for XL320.

Parameters

id
data_list	: [pos_p, pos_i, pos_d, vel_p, vel_i, ff1, ff2]

Returns

Implements ttl_driver::AbstractDxlDriver.

Definition at line 1104 of file dxl_driver.hpp.

readPID() [2/2]

template<typename reg_type >

int ttl_driver::DxlDriver< reg_type >::readPID ( uint8_t  id, std::vector< uint16_t > &  data_list  )

overridevirtual

DxlDriver<reg_type>::readPID.

Parameters

id
data_list	: [pos_p, pos_i, pos_d, vel_p, vel_i, ff1, ff2]

Returns

Implements ttl_driver::AbstractDxlDriver.

Definition at line 751 of file dxl_driver.hpp.

readPosition() [1/2]

int ttl_driver::DxlDriver< XL320Reg >::readPosition ( uint8_t  id, uint32_t &  present_position  )

inlinevirtual

Implements ttl_driver::AbstractMotorDriver.

Definition at line 1000 of file dxl_driver.hpp.

readPosition() [2/2]

template<typename reg_type >

int ttl_driver::DxlDriver< reg_type >::readPosition ( uint8_t  id, uint32_t &  present_position  )

overridevirtual

DxlDriver<reg_type>::readPosition.

Parameters

id
present_position

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 453 of file dxl_driver.hpp.

readTemperature()

template<typename reg_type >

int ttl_driver::DxlDriver< reg_type >::readTemperature ( uint8_t  id, uint8_t &  temperature  )

overridevirtual

DxlDriver<reg_type>::readTemperature.

Parameters

id
temperature

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 465 of file dxl_driver.hpp.

readVelocity() [1/2]

int ttl_driver::DxlDriver< XL320Reg >::readVelocity ( uint8_t  id, uint32_t &  present_velocity  )

inlinevirtual

Implements ttl_driver::AbstractMotorDriver.

Definition at line 1022 of file dxl_driver.hpp.

readVelocity() [2/2]

template<typename reg_type >

int ttl_driver::DxlDriver< reg_type >::readVelocity ( uint8_t  id, uint32_t &  present_velocity  )

overridevirtual

DxlDriver<reg_type>::readVelocity.

Parameters

id
present_velocity

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 868 of file dxl_driver.hpp.

readVelocityProfile() [1/2]

template<typename reg_type >

int ttl_driver::DxlDriver< reg_type >::readVelocityProfile ( uint8_t  id, std::vector< uint32_t > &  data_list  )

overridevirtual

Implements ttl_driver::AbstractMotorDriver.

Definition at line 430 of file dxl_driver.hpp.

readVelocityProfile() [2/2]

int ttl_driver::DxlDriver< XL320Reg >::readVelocityProfile ( uint8_t  , std::vector< uint32_t > &    )

inlinevirtual

Implements ttl_driver::AbstractMotorDriver.

Definition at line 986 of file dxl_driver.hpp.

readVoltage()

template<typename reg_type >

int ttl_driver::DxlDriver< reg_type >::readVoltage ( uint8_t  id, double &  voltage  )

overridevirtual

DxlDriver<reg_type>::readVoltage.

Parameters

id
voltage

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 477 of file dxl_driver.hpp.

str()

template<typename reg_type >

std::string ttl_driver::DxlDriver< reg_type >::str

overridevirtual

DxlDriver<reg_type>::str.

Returns

Reimplemented from ttl_driver::AbstractDxlDriver.

Definition at line 158 of file dxl_driver.hpp.

syncReadFirmwareVersion()

template<typename reg_type >

int ttl_driver::DxlDriver< reg_type >::syncReadFirmwareVersion ( const std::vector< uint8_t > &  id_list, std::vector< std::string > &  firmware_list  )

overridevirtual

DxlDriver<reg_type>::syncReadFirmwareVersion.

Parameters

id_list
firmware_list

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 593 of file dxl_driver.hpp.

syncReadHwErrorStatus()

template<typename reg_type >

int ttl_driver::DxlDriver< reg_type >::syncReadHwErrorStatus ( const std::vector< uint8_t > &  id_list, std::vector< uint8_t > &  hw_error_list  )

overridevirtual

DxlDriver<reg_type>::syncReadHwErrorStatus.

Parameters

id_list
hw_error_list

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 685 of file dxl_driver.hpp.

syncReadHwStatus() [1/2]

int ttl_driver::DxlDriver< XL320Reg >::syncReadHwStatus ( const std::vector< uint8_t > &  id_list, std::vector< std::pair< double, uint8_t >> &  data_list  )

inline

DxlDriver<reg_type>::syncReadHwStatus.

Parameters

id_list
data_list

Returns

Definition at line 1075 of file dxl_driver.hpp.

syncReadHwStatus() [2/2]

template<typename reg_type >

int ttl_driver::DxlDriver< reg_type >::syncReadHwStatus ( const std::vector< uint8_t > &  id_list, std::vector< std::pair< double, uint8_t >> &  data_list  )

override

DxlDriver<reg_type>::syncReadHwStatus.

Parameters

id_list
data_list

Returns

Definition at line 656 of file dxl_driver.hpp.

syncReadJointStatus() [1/2]

int ttl_driver::DxlDriver< XL320Reg >::syncReadJointStatus ( const std::vector< uint8_t > &  id_list, std::vector< std::array< uint32_t, 2 >> &  data_array_list  )

inline

DxlDriver::syncReadJointStatus.

Parameters

id_list
data_array_list

Returns

Definition at line 1048 of file dxl_driver.hpp.

syncReadJointStatus() [2/2]

template<typename reg_type >

int ttl_driver::DxlDriver< reg_type >::syncReadJointStatus ( const std::vector< uint8_t > &  id_list, std::vector< std::array< uint32_t, 2 >> &  data_array_list  )

override

DxlDriver::syncReadJointStatus.

Parameters

id_list
data_array_list

Returns

Definition at line 892 of file dxl_driver.hpp.

syncReadLoad() [1/3]

int ttl_driver::DxlDriver< XM430Reg >::syncReadLoad ( const std::vector< uint8_t > &  id_list, std::vector< uint16_t > &  load_list  )

inlinevirtual

Implements ttl_driver::AbstractDxlDriver.

Definition at line 1415 of file dxl_driver.hpp.

syncReadLoad() [2/3]

int ttl_driver::DxlDriver< XL330Reg >::syncReadLoad ( const std::vector< uint8_t > &  id_list, std::vector< uint16_t > &  load_list  )

inlinevirtual

Implements ttl_driver::AbstractDxlDriver.

Definition at line 1488 of file dxl_driver.hpp.

syncReadLoad() [3/3]

template<typename reg_type >

int ttl_driver::DxlDriver< reg_type >::syncReadLoad ( const std::vector< uint8_t > &  id_list, std::vector< uint16_t > &  load_list  )

overridevirtual

DxlDriver<reg_type>::syncReadLoad.

Parameters

id_list
load_list

Returns

Implements ttl_driver::AbstractDxlDriver.

Definition at line 856 of file dxl_driver.hpp.

syncReadPosition() [1/2]

int ttl_driver::DxlDriver< XL320Reg >::syncReadPosition ( const std::vector< uint8_t > &  id_list, std::vector< uint32_t > &  position_list  )

inlinevirtual

Implements ttl_driver::AbstractMotorDriver.

Definition at line 1009 of file dxl_driver.hpp.

syncReadPosition() [2/2]

template<typename reg_type >

int ttl_driver::DxlDriver< reg_type >::syncReadPosition ( const std::vector< uint8_t > &  id_list, std::vector< uint32_t > &  position_list  )

overridevirtual

DxlDriver<reg_type>::syncReadPosition.

Parameters

id_list
position_list

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 504 of file dxl_driver.hpp.

syncReadRawVoltage()

template<typename reg_type >

int ttl_driver::DxlDriver< reg_type >::syncReadRawVoltage ( const std::vector< uint8_t > &  id_list, std::vector< double > &  voltage_list  )

overridevirtual

DxlDriver<reg_type>::syncReadRawVoltage.

Parameters

id_list
voltage_list

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 639 of file dxl_driver.hpp.

syncReadTemperature()

template<typename reg_type >

int ttl_driver::DxlDriver< reg_type >::syncReadTemperature ( const std::vector< uint8_t > &  id_list, std::vector< uint8_t > &  temperature_list  )

overridevirtual

DxlDriver<reg_type>::syncReadTemperature.

Parameters

id_list
temperature_list

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 610 of file dxl_driver.hpp.

syncReadVelocity() [1/2]

int ttl_driver::DxlDriver< XL320Reg >::syncReadVelocity ( const std::vector< uint8_t > &  id_list, std::vector< uint32_t > &  velocity_list  )

inlinevirtual

Implements ttl_driver::AbstractMotorDriver.

Definition at line 1032 of file dxl_driver.hpp.

syncReadVelocity() [2/2]

template<typename reg_type >

int ttl_driver::DxlDriver< reg_type >::syncReadVelocity ( const std::vector< uint8_t > &  id_list, std::vector< uint32_t > &  velocity_list  )

overridevirtual

DxlDriver<reg_type>::syncReadVelocity.

Parameters

id_list
velocity_list

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 880 of file dxl_driver.hpp.

syncReadVoltage()

template<typename reg_type >

int ttl_driver::DxlDriver< reg_type >::syncReadVoltage ( const std::vector< uint8_t > &  id_list, std::vector< double > &  voltage_list  )

overridevirtual

DxlDriver<reg_type>::syncReadVoltage.

Parameters

id_list
voltage_list

Returns

Implements ttl_driver::AbstractTtlDriver.

Definition at line 622 of file dxl_driver.hpp.

syncWriteLed()

template<typename reg_type >

int ttl_driver::DxlDriver< reg_type >::syncWriteLed ( const std::vector< uint8_t > &  id_list, const std::vector< uint8_t > &  led_list  )

overridevirtual

DxlDriver<reg_type>::syncWriteLed.

Parameters

id_list
led_list

Returns

Implements ttl_driver::AbstractDxlDriver.

Definition at line 713 of file dxl_driver.hpp.

syncWritePositionGoal() [1/2]

int ttl_driver::DxlDriver< XL320Reg >::syncWritePositionGoal ( const std::vector< uint8_t > &  id_list, const std::vector< uint32_t > &  position_list  )

inlinevirtual

DxlDriver<reg_type>::syncWritePositionGoal.

Parameters

id_list
position_list

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 1189 of file dxl_driver.hpp.

syncWritePositionGoal() [2/2]

template<typename reg_type >

int ttl_driver::DxlDriver< reg_type >::syncWritePositionGoal ( const std::vector< uint8_t > &  id_list, const std::vector< uint32_t > &  position_list  )

overridevirtual

DxlDriver<reg_type>::syncWritePositionGoal.

Parameters

id_list
position_list

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 411 of file dxl_driver.hpp.

syncWriteTorqueGoal() [1/6]

int ttl_driver::DxlDriver< XL430Reg >::syncWriteTorqueGoal ( const std::vector< uint8_t > &  , const std::vector< uint16_t > &    )

inlinevirtual

Implements ttl_driver::AbstractDxlDriver.

Definition at line 1280 of file dxl_driver.hpp.

syncWriteTorqueGoal() [2/6]

int ttl_driver::DxlDriver< XC430Reg >::syncWriteTorqueGoal ( const std::vector< uint8_t > &  , const std::vector< uint16_t > &    )

inlinevirtual

Implements ttl_driver::AbstractDxlDriver.

Definition at line 1341 of file dxl_driver.hpp.

syncWriteTorqueGoal() [3/6]

int ttl_driver::DxlDriver< XM430Reg >::syncWriteTorqueGoal ( const std::vector< uint8_t > &  id_list, const std::vector< uint16_t > &  torque_list  )

inlinevirtual

Implements ttl_driver::AbstractDxlDriver.

Definition at line 1403 of file dxl_driver.hpp.

syncWriteTorqueGoal() [4/6]

int ttl_driver::DxlDriver< XL330Reg >::syncWriteTorqueGoal ( const std::vector< uint8_t > &  id_list, const std::vector< uint16_t > &  torque_list  )

inlinevirtual

Implements ttl_driver::AbstractDxlDriver.

Definition at line 1476 of file dxl_driver.hpp.

syncWriteTorqueGoal() [5/6]

int ttl_driver::DxlDriver< XH430Reg >::syncWriteTorqueGoal ( const std::vector< uint8_t > &  id_list, const std::vector< uint16_t > &  torque_list  )

inlinevirtual

Implements ttl_driver::AbstractDxlDriver.

Definition at line 1559 of file dxl_driver.hpp.

syncWriteTorqueGoal() [6/6]

template<typename reg_type >

int ttl_driver::DxlDriver< reg_type >::syncWriteTorqueGoal ( const std::vector< uint8_t > &  id_list, const std::vector< uint16_t > &  torque_list  )

overridevirtual

DxlDriver<reg_type>::syncWriteTorqueGoal.

Parameters

id_list
torque_list

Returns

Implements ttl_driver::AbstractDxlDriver.

Definition at line 737 of file dxl_driver.hpp.

syncWriteTorquePercentage()

template<typename reg_type >

int ttl_driver::DxlDriver< reg_type >::syncWriteTorquePercentage ( const std::vector< uint8_t > &  id_list, const std::vector< uint8_t > &  torque_percentage_list  )

overridevirtual

DxlDriver<reg_type>::syncWriteTorquePercentage.

Parameters

id_list
torque_percentage_list

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 393 of file dxl_driver.hpp.

syncWriteVelocityGoal() [1/2]

int ttl_driver::DxlDriver< XL320Reg >::syncWriteVelocityGoal ( const std::vector< uint8_t > &  id_list, const std::vector< uint32_t > &  velocity_list  )

inlinevirtual

DxlDriver<reg_type>::syncWriteVelocityGoal.

Parameters

id_list
velocity_list

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 1207 of file dxl_driver.hpp.

syncWriteVelocityGoal() [2/2]

template<typename reg_type >

int ttl_driver::DxlDriver< reg_type >::syncWriteVelocityGoal ( const std::vector< uint8_t > &  id_list, const std::vector< uint32_t > &  velocity_list  )

overridevirtual

DxlDriver<reg_type>::syncWriteVelocityGoal.

Parameters

id_list
velocity_list

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 423 of file dxl_driver.hpp.

writeControlMode()

template<typename reg_type >

int ttl_driver::DxlDriver< reg_type >::writeControlMode ( uint8_t  id, uint8_t  control_mode  )

overridevirtual

DxlDriver<reg_type>::writeControlMode.

Parameters

id
control_mode

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 805 of file dxl_driver.hpp.

writeLed()

template<typename reg_type >

int ttl_driver::DxlDriver< reg_type >::writeLed ( uint8_t  id, uint8_t  led_value  )

overridevirtual

DxlDriver<reg_type>::writeLed.

Parameters

id
led_value

Returns

Implements ttl_driver::AbstractDxlDriver.

Definition at line 701 of file dxl_driver.hpp.

writePID() [1/2]

template<typename reg_type >

int ttl_driver::DxlDriver< reg_type >::writePID ( uint8_t  id, const std::vector< uint16_t > &  data  )

overridevirtual

DxlDriver<reg_type>::writePID.

Parameters

id
data

Returns

Implements ttl_driver::AbstractDxlDriver.

Definition at line 516 of file dxl_driver.hpp.

writePID() [2/2]

int ttl_driver::DxlDriver< XL320Reg >::writePID ( uint8_t  id, const std::vector< uint16_t > &  data_list  )

inlinevirtual

DxlDriver<reg_type>::writePID : only position PID for XL320.

Parameters

id
data_list

Returns

TODO(cc) bulk write all in one shot

Implements ttl_driver::AbstractDxlDriver.

Definition at line 1146 of file dxl_driver.hpp.

writePositionGoal()

template<typename reg_type >

int ttl_driver::DxlDriver< reg_type >::writePositionGoal ( uint8_t  id, uint32_t  position  )

overridevirtual

DxlDriver<reg_type>::writePositionGoal.

Parameters

id
position

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 367 of file dxl_driver.hpp.

writeShutdownConfiguration() [1/2]

int ttl_driver::DxlDriver< XL330Reg >::writeShutdownConfiguration ( uint8_t  id, uint8_t  configuration  )

inlinevirtual

Implements ttl_driver::AbstractDxlDriver.

Definition at line 1500 of file dxl_driver.hpp.

writeShutdownConfiguration() [2/2]

template<typename reg_type >

int ttl_driver::DxlDriver< reg_type >::writeShutdownConfiguration ( uint8_t  id, uint8_t  configuration  )

overridevirtual

DxlDriver<reg_type>::writeShutdownConfiguration.

Parameters

id
configuration

Returns

Implements ttl_driver::AbstractDxlDriver.

Definition at line 282 of file dxl_driver.hpp.

writeStartupConfiguration() [1/2]

template<typename reg_type >

int ttl_driver::DxlDriver< reg_type >::writeStartupConfiguration ( uint8_t  id, uint8_t  config  )

overridevirtual

DxlDriver<reg_type>::writeStartupConfiguration.

Parameters

id
config

Returns

Implements ttl_driver::AbstractDxlDriver.

Definition at line 243 of file dxl_driver.hpp.

writeStartupConfiguration() [2/2]

int ttl_driver::DxlDriver< XL320Reg >::writeStartupConfiguration ( uint8_t  , uint8_t    )

inlinevirtual

Implements ttl_driver::AbstractDxlDriver.

Definition at line 932 of file dxl_driver.hpp.

writeTemperatureLimit() [1/2]

int ttl_driver::DxlDriver< XL330Reg >::writeTemperatureLimit ( uint8_t  id, uint8_t  temperature_limit  )

inlinevirtual

Implements ttl_driver::AbstractDxlDriver.

Definition at line 1494 of file dxl_driver.hpp.

writeTemperatureLimit() [2/2]

template<typename reg_type >

int ttl_driver::DxlDriver< reg_type >::writeTemperatureLimit ( uint8_t  id, uint8_t  temperature_limit  )

overridevirtual

DxlDriver<reg_type>::writeTemperatureLimit.

Parameters

id
temperature_limit

Returns

Implements ttl_driver::AbstractDxlDriver.

Definition at line 269 of file dxl_driver.hpp.

writeTorqueGoal() [1/6]

int ttl_driver::DxlDriver< XM430Reg >::writeTorqueGoal ( uint8_t  id, uint16_t  torque  )

inlinevirtual

Implements ttl_driver::AbstractDxlDriver.

Definition at line 1397 of file dxl_driver.hpp.

writeTorqueGoal() [2/6]

int ttl_driver::DxlDriver< XL330Reg >::writeTorqueGoal ( uint8_t  id, uint16_t  torque  )

inlinevirtual

Implements ttl_driver::AbstractDxlDriver.

Definition at line 1470 of file dxl_driver.hpp.

writeTorqueGoal() [3/6]

int ttl_driver::DxlDriver< XH430Reg >::writeTorqueGoal ( uint8_t  id, uint16_t  torque  )

inlinevirtual

Implements ttl_driver::AbstractDxlDriver.

Definition at line 1553 of file dxl_driver.hpp.

writeTorqueGoal() [4/6]

template<typename reg_type >

int ttl_driver::DxlDriver< reg_type >::writeTorqueGoal ( uint8_t  id, uint16_t  torque  )

overridevirtual

DxlDriver<reg_type>::writeTorqueGoal.

Parameters

id
torque

Returns

Implements ttl_driver::AbstractDxlDriver.

Definition at line 725 of file dxl_driver.hpp.

writeTorqueGoal() [5/6]

int ttl_driver::DxlDriver< XL430Reg >::writeTorqueGoal ( uint8_t  , uint16_t    )

inlinevirtual

Implements ttl_driver::AbstractDxlDriver.

Definition at line 1273 of file dxl_driver.hpp.

writeTorqueGoal() [6/6]

int ttl_driver::DxlDriver< XC430Reg >::writeTorqueGoal ( uint8_t  , uint16_t    )

inlinevirtual

Implements ttl_driver::AbstractDxlDriver.

Definition at line 1334 of file dxl_driver.hpp.

writeTorquePercentage()

template<typename reg_type >

int ttl_driver::DxlDriver< reg_type >::writeTorquePercentage ( uint8_t  id, uint8_t  torque_percentage  )

overridevirtual

DxlDriver<reg_type>::writeTorquePercentage.

Parameters

id
torque_percentage

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 354 of file dxl_driver.hpp.

writeVelocityGoal()

template<typename reg_type >

int ttl_driver::DxlDriver< reg_type >::writeVelocityGoal ( uint8_t  id, uint32_t  velocity  )

overridevirtual

DxlDriver<reg_type>::writeVelocityGoal.

Parameters

id
velocity

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 380 of file dxl_driver.hpp.

writeVelocityProfile() [1/2]

template<typename reg_type >

int ttl_driver::DxlDriver< reg_type >::writeVelocityProfile ( uint8_t  id, const std::vector< uint32_t > &  data_list  )

overridevirtual

DxlDriver<reg_type>::writeVelocityProfile Write velocity profile for dxl.

Parameters

id
data_list	[ velocity, acceleration]

Returns

Implements ttl_driver::AbstractMotorDriver.

Definition at line 322 of file dxl_driver.hpp.

writeVelocityProfile() [2/2]

int ttl_driver::DxlDriver< XL320Reg >::writeVelocityProfile ( uint8_t  , const std::vector< uint32_t > &    )

inlinevirtual

Implements ttl_driver::AbstractMotorDriver.

Definition at line 993 of file dxl_driver.hpp.

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

• dxl_driver.hpp