end_effector_reg.hpp
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1 /*
2 xc430_reg.hpp
3 Copyright (C) 2020 Niryo
4 All rights reserved.
5 This program is free software: you can redistribute it and/or modify
6 it under the terms of the GNU General Public License as published by
7 the Free Software Foundation, either version 3 of the License, or
8 (at your option) any later version.
9 This program is distributed in the hope that it will be useful,
10 but WITHOUT ANY WARRANTY; without even the implied warranty of
11 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12 GNU General Public License for more details.
13 You should have received a copy of the GNU General Public License
14 along with this program. If not, see <http:// www.gnu.org/licenses/>.
15 */
16 
17 #ifndef END_EFFECTOR_REG_HPP
18 #define END_EFFECTOR_REG_HPP
19 
20 #include <memory>
21 #include "common/model/hardware_type_enum.hpp"
22 
23 namespace ttl_driver
24 {
26 {
27  static constexpr common::model::EHardwareType motor_type = common::model::EHardwareType::END_EFFECTOR;
28 
29  static constexpr float PROTOCOL_VERSION = 2.0;
30  static constexpr int MODEL_NUMBER = 2001;
31  static constexpr int VOLTAGE_CONVERSION = 1000;
32 
33  // see table here : http:// support.robotis.com/en/product/actuator/dynamixel_x/xl_series/xl-320.htm
34  // EEPROM
35  static constexpr uint16_t ADDR_MODEL_NUMBER = 0;
36  using TYPE_MODEL_NUMBER = uint16_t;
37 
38  static constexpr uint16_t ADDR_ID = 7;
39  using TYPE_ID = uint8_t;
40 
41  static constexpr uint16_t ADDR_BAUDRATE = 8;
42  using TYPE_BAUDRATE = uint8_t;
43 
44  static constexpr uint16_t ADDR_FIRMWARE_VERSION = 59;
45  using TYPE_FIRMWARE_VERSION = uint32_t;
46 
47  static constexpr uint16_t ADDR_HW_ERROR_STATUS = 70;
48  using TYPE_HW_ERROR_STATUS = uint8_t;
49 
50  static constexpr uint16_t ADDR_PRESENT_VOLTAGE = 144;
51  using TYPE_PRESENT_VOLTAGE = uint16_t;
52 
53  static constexpr uint16_t ADDR_PRESENT_TEMPERATURE = 146;
54  using TYPE_PRESENT_TEMPERATURE = uint8_t;
55 
56  // specific to EE
57  using TYPE_BUTTON_STATUS = uint8_t;
58  static constexpr uint16_t ADDR_BUTTON_0_STATUS = 1024;
59  static constexpr uint16_t ADDR_BUTTON_1_STATUS = 1025;
60  static constexpr uint16_t ADDR_BUTTON_2_STATUS = 1026;
61 
62  static constexpr uint16_t ADDR_DIGITAL_IN = 1040;
63  using TYPE_DIGITAL_IN = uint8_t;
64 
65  static constexpr uint16_t ADDR_DIGITAL_OUT = 1041;
66  using TYPE_DIGITAL_OUT = uint8_t;
67 
68  static constexpr uint16_t ADDR_COLLISION_STATUS = 1048;
69  using TYPE_COLLISION_STATUS = uint8_t;
70 
71  static constexpr uint16_t ADDR_COLLISION_THRESHOLD = 1049;
72  using TYPE_COLLISION_THRESHOLD = uint8_t;
73 
74 
75  static constexpr uint16_t ADDR_ACCELERO_VALUE_X = 1053;
76  using TYPE_ACCELERO_VALUE_X = uint32_t;
77 
78  static constexpr uint16_t ADDR_ACCELERO_VALUE_Y = 1057;
79  using TYPE_ACCELERO_VALUE_Y = uint32_t;
80 
81  static constexpr uint16_t ADDR_ACCELERO_VALUE_Z = 1061;
82  using TYPE_ACCELERO_VALUE_Z = uint32_t;
83 
84  // Firmware status
85 
86  static constexpr uint16_t ADDR_FIRMWARE_RUNNING = 8192;
87  using TYPE_FIRMWARE_RUNNING = uint8_t;
88 
89  static constexpr uint16_t ADDR_ENTER_BOOTLOADER = 8193;
90  using TYPE_ENTER_BOOTLOADER = uint32_t;
91 
92 };
93 } // ttl_driver
94 
95 #endif // END_EFFECTOR_REG_HPP
ttl_driver::EndEffectorReg::TYPE_ID
uint8_t TYPE_ID
Definition: end_effector_reg.hpp:39
ttl_driver::EndEffectorReg::ADDR_HW_ERROR_STATUS
static constexpr uint16_t ADDR_HW_ERROR_STATUS
Definition: end_effector_reg.hpp:47
ttl_driver::EndEffectorReg
Definition: end_effector_reg.hpp:25
ttl_driver::EndEffectorReg::motor_type
static constexpr common::model::EHardwareType motor_type
Definition: end_effector_reg.hpp:27
ttl_driver::EndEffectorReg::ADDR_PRESENT_TEMPERATURE
static constexpr uint16_t ADDR_PRESENT_TEMPERATURE
Definition: end_effector_reg.hpp:53
ttl_driver::EndEffectorReg::TYPE_MODEL_NUMBER
uint16_t TYPE_MODEL_NUMBER
Definition: end_effector_reg.hpp:36
ttl_driver::EndEffectorReg::ADDR_ID
static constexpr uint16_t ADDR_ID
Definition: end_effector_reg.hpp:38
ttl_driver::EndEffectorReg::ADDR_BUTTON_0_STATUS
static constexpr uint16_t ADDR_BUTTON_0_STATUS
Definition: end_effector_reg.hpp:58
ttl_driver::EndEffectorReg::TYPE_FIRMWARE_VERSION
uint32_t TYPE_FIRMWARE_VERSION
Definition: end_effector_reg.hpp:45
ttl_driver::EndEffectorReg::ADDR_COLLISION_THRESHOLD
static constexpr uint16_t ADDR_COLLISION_THRESHOLD
Definition: end_effector_reg.hpp:71
ttl_driver::EndEffectorReg::TYPE_ACCELERO_VALUE_X
uint32_t TYPE_ACCELERO_VALUE_X
Definition: end_effector_reg.hpp:76
ttl_driver::EndEffectorReg::ADDR_BUTTON_2_STATUS
static constexpr uint16_t ADDR_BUTTON_2_STATUS
Definition: end_effector_reg.hpp:60
ttl_driver::EndEffectorReg::ADDR_ACCELERO_VALUE_X
static constexpr uint16_t ADDR_ACCELERO_VALUE_X
Definition: end_effector_reg.hpp:75
ttl_driver::EndEffectorReg::ADDR_ACCELERO_VALUE_Z
static constexpr uint16_t ADDR_ACCELERO_VALUE_Z
Definition: end_effector_reg.hpp:81
ttl_driver::EndEffectorReg::TYPE_COLLISION_STATUS
uint8_t TYPE_COLLISION_STATUS
Definition: end_effector_reg.hpp:69
ttl_driver::EndEffectorReg::ADDR_BAUDRATE
static constexpr uint16_t ADDR_BAUDRATE
Definition: end_effector_reg.hpp:41
ttl_driver::EndEffectorReg::TYPE_BUTTON_STATUS
uint8_t TYPE_BUTTON_STATUS
Definition: end_effector_reg.hpp:57
ttl_driver::EndEffectorReg::ADDR_DIGITAL_IN
static constexpr uint16_t ADDR_DIGITAL_IN
Definition: end_effector_reg.hpp:62
ttl_driver::EndEffectorReg::PROTOCOL_VERSION
static constexpr float PROTOCOL_VERSION
Definition: end_effector_reg.hpp:29
ttl_driver::EndEffectorReg::VOLTAGE_CONVERSION
static constexpr int VOLTAGE_CONVERSION
Definition: end_effector_reg.hpp:31
ttl_driver::EndEffectorReg::ADDR_MODEL_NUMBER
static constexpr uint16_t ADDR_MODEL_NUMBER
Definition: end_effector_reg.hpp:35
ttl_driver::EndEffectorReg::ADDR_FIRMWARE_VERSION
static constexpr uint16_t ADDR_FIRMWARE_VERSION
Definition: end_effector_reg.hpp:44
ttl_driver::EndEffectorReg::ADDR_COLLISION_STATUS
static constexpr uint16_t ADDR_COLLISION_STATUS
Definition: end_effector_reg.hpp:68
ttl_driver::EndEffectorReg::TYPE_PRESENT_TEMPERATURE
uint8_t TYPE_PRESENT_TEMPERATURE
Definition: end_effector_reg.hpp:54
ttl_driver
Definition: abstract_dxl_driver.hpp:30
ttl_driver::EndEffectorReg::ADDR_DIGITAL_OUT
static constexpr uint16_t ADDR_DIGITAL_OUT
Definition: end_effector_reg.hpp:65
ttl_driver::EndEffectorReg::TYPE_COLLISION_THRESHOLD
uint8_t TYPE_COLLISION_THRESHOLD
Definition: end_effector_reg.hpp:72
ttl_driver::EndEffectorReg::TYPE_ACCELERO_VALUE_Z
uint32_t TYPE_ACCELERO_VALUE_Z
Definition: end_effector_reg.hpp:82
ttl_driver::EndEffectorReg::ADDR_ACCELERO_VALUE_Y
static constexpr uint16_t ADDR_ACCELERO_VALUE_Y
Definition: end_effector_reg.hpp:78
ttl_driver::EndEffectorReg::TYPE_HW_ERROR_STATUS
uint8_t TYPE_HW_ERROR_STATUS
Definition: end_effector_reg.hpp:48
ttl_driver::EndEffectorReg::ADDR_BUTTON_1_STATUS
static constexpr uint16_t ADDR_BUTTON_1_STATUS
Definition: end_effector_reg.hpp:59
ttl_driver::EndEffectorReg::MODEL_NUMBER
static constexpr int MODEL_NUMBER
Definition: end_effector_reg.hpp:30
ttl_driver::EndEffectorReg::TYPE_BAUDRATE
uint8_t TYPE_BAUDRATE
Definition: end_effector_reg.hpp:42
ttl_driver::EndEffectorReg::TYPE_PRESENT_VOLTAGE
uint16_t TYPE_PRESENT_VOLTAGE
Definition: end_effector_reg.hpp:51
ttl_driver::EndEffectorReg::ADDR_FIRMWARE_RUNNING
static constexpr uint16_t ADDR_FIRMWARE_RUNNING
Definition: end_effector_reg.hpp:86
ttl_driver::EndEffectorReg::TYPE_DIGITAL_IN
uint8_t TYPE_DIGITAL_IN
Definition: end_effector_reg.hpp:63
ttl_driver::EndEffectorReg::TYPE_ACCELERO_VALUE_Y
uint32_t TYPE_ACCELERO_VALUE_Y
Definition: end_effector_reg.hpp:79
ttl_driver::EndEffectorReg::ADDR_ENTER_BOOTLOADER
static constexpr uint16_t ADDR_ENTER_BOOTLOADER
Definition: end_effector_reg.hpp:89
ttl_driver::EndEffectorReg::TYPE_DIGITAL_OUT
uint8_t TYPE_DIGITAL_OUT
Definition: end_effector_reg.hpp:66
ttl_driver::EndEffectorReg::ADDR_PRESENT_VOLTAGE
static constexpr uint16_t ADDR_PRESENT_VOLTAGE
Definition: end_effector_reg.hpp:50
ttl_driver::EndEffectorReg::TYPE_ENTER_BOOTLOADER
uint32_t TYPE_ENTER_BOOTLOADER
Definition: end_effector_reg.hpp:90
ttl_driver::EndEffectorReg::TYPE_FIRMWARE_RUNNING
uint8_t TYPE_FIRMWARE_RUNNING
Definition: end_effector_reg.hpp:87


ttl_driver
Author(s): Clement Cocquempot
autogenerated on Wed May 21 2025 08:30:14