ttl_driver::XH430Reg Struct Reference

#include <xh430_reg.hpp>

Inheritance diagram for ttl_driver::XH430Reg:

Public Types
using	TYPE_CURRENT_LIMIT = uint16_t
using	TYPE_GOAL_CURRENT = uint16_t
using	TYPE_PRESENT_CURRENT = uint16_t
Public Types inherited from ttl_driver::XL430Reg
using	TYPE_ALARM_SHUTDOWN = uint8_t
using	TYPE_BAUDRATE = uint8_t
using	TYPE_BUS_WATCHDOG = uint8_t
using	TYPE_DRIVE_MODE = uint8_t
using	TYPE_FIRMWARE_VERSION = uint8_t
using	TYPE_GOAL_POSITION = uint32_t
using	TYPE_GOAL_PWM = uint16_t
using	TYPE_GOAL_VELOCITY = uint32_t
using	TYPE_HOMING_OFFSET = uint32_t
using	TYPE_HW_ERROR_STATUS = uint8_t
using	TYPE_ID = uint8_t
using	TYPE_LED = uint8_t
using	TYPE_MAX_POSITION_LIMIT = uint32_t
using	TYPE_MAX_VOLTAGE_LIMIT = uint16_t
using	TYPE_MIN_POSITION_LIMIT = uint32_t
using	TYPE_MIN_VOLTAGE_LIMIT = uint16_t
using	TYPE_MODEL_INFORMATION = uint32_t
using	TYPE_MODEL_NUMBER = uint16_t
using	TYPE_MOVING = uint8_t
using	TYPE_MOVING_STATUS = uint8_t
using	TYPE_OPERATING_MODE = uint8_t
using	TYPE_PID_GAIN = uint16_t
using	TYPE_POSITION_TRAJECTORY = uint32_t
using	TYPE_PRESENT_LOAD = uint16_t
using	TYPE_PRESENT_POSITION = uint32_t
using	TYPE_PRESENT_PWM = uint16_t
using	TYPE_PRESENT_TEMPERATURE = uint8_t
using	TYPE_PRESENT_VELOCITY = uint32_t
using	TYPE_PRESENT_VOLTAGE = uint16_t
using	TYPE_PROFILE = uint32_t
using	TYPE_PWM_LIMIT = uint16_t
using	TYPE_REGISTERED_INSTRUCTION = uint8_t
using	TYPE_RETURN_DELAY_TIME = uint8_t
using	TYPE_STARTUP_CONFIGURATION = uint8_t
using	TYPE_STATUS_RETURN_LEVEL = uint8_t
using	TYPE_TEMPERATURE_LIMIT = uint8_t
using	TYPE_TORQUE_ENABLE = uint8_t
using	TYPE_VELOCITY_LIMIT = uint32_t
using	TYPE_VELOCITY_TRAJECTORY = uint32_t

Static Public Attributes
static constexpr uint16_t	ADDR_CURRENT_LIMIT = 38
static constexpr uint16_t	ADDR_GOAL_CURRENT = 102
static constexpr uint16_t	ADDR_PRESENT_CURRENT = 126
static constexpr int	MODEL_NUMBER = 1010
Static Public Attributes inherited from ttl_driver::XL430Reg
static constexpr uint16_t	ADDR_ALARM_SHUTDOWN = 63
static constexpr uint16_t	ADDR_BAUDRATE = 8
static constexpr uint16_t	ADDR_BUS_WATCHDOG = 98
static constexpr uint16_t	ADDR_DRIVE_MODE = 10
static constexpr uint16_t	ADDR_FF1_GAIN = 90
static constexpr uint16_t	ADDR_FF2_GAIN = 88
static constexpr uint16_t	ADDR_FIRMWARE_VERSION = 6
static constexpr uint16_t	ADDR_GOAL_POSITION = 116
static constexpr uint16_t	ADDR_GOAL_PWM = 100
static constexpr uint16_t	ADDR_GOAL_VELOCITY = 104
static constexpr uint16_t	ADDR_HOMING_OFFSET = 20
static constexpr uint16_t	ADDR_HW_ERROR_STATUS = 70
static constexpr uint16_t	ADDR_ID = 7
static constexpr uint16_t	ADDR_LED = 65
static constexpr uint16_t	ADDR_MAX_POSITION_LIMIT = 48
static constexpr uint16_t	ADDR_MAX_VOLTAGE_LIMIT = 32
static constexpr uint16_t	ADDR_MIN_POSITION_LIMIT = 52
static constexpr uint16_t	ADDR_MIN_VOLTAGE_LIMIT = 34
static constexpr uint16_t	ADDR_MODEL_INFORMATION = 2
static constexpr uint16_t	ADDR_MODEL_NUMBER = 0
static constexpr uint16_t	ADDR_MOVING = 122
static constexpr uint16_t	ADDR_MOVING_STATUS = 123
static constexpr uint16_t	ADDR_OPERATING_MODE = 11
static constexpr uint16_t	ADDR_POSITION_D_GAIN = 80
static constexpr uint16_t	ADDR_POSITION_I_GAIN = 82
static constexpr uint16_t	ADDR_POSITION_P_GAIN = 84
static constexpr uint16_t	ADDR_POSITION_TRAJECTORY = 140
static constexpr uint16_t	ADDR_PRESENT_LOAD = 126
static constexpr uint16_t	ADDR_PRESENT_POSITION = 132
static constexpr uint16_t	ADDR_PRESENT_PWM = 124
static constexpr uint16_t	ADDR_PRESENT_TEMPERATURE = 146
static constexpr uint16_t	ADDR_PRESENT_VELOCITY = 128
static constexpr uint16_t	ADDR_PRESENT_VOLTAGE = 144
static constexpr uint16_t	ADDR_PROFILE_ACCELERATION = 108
static constexpr uint16_t	ADDR_PROFILE_VELOCITY = 112
static constexpr uint16_t	ADDR_PWM_LIMIT = 36
static constexpr uint16_t	ADDR_REGISTERED_INSTRUCTION = 69
static constexpr uint16_t	ADDR_RETURN_DELAY_TIME = 9
static constexpr uint16_t	ADDR_STARTUP_CONFIGURATION = 60
static constexpr uint16_t	ADDR_STATUS_RETURN_LEVEL = 68
static constexpr uint16_t	ADDR_TEMPERATURE_LIMIT = 31
static constexpr uint16_t	ADDR_TORQUE_ENABLE = 64
static constexpr uint16_t	ADDR_VELOCITY_I_GAIN = 76
static constexpr uint16_t	ADDR_VELOCITY_LIMIT = 44
static constexpr uint16_t	ADDR_VELOCITY_P_GAIN = 78
static constexpr uint16_t	ADDR_VELOCITY_TRAJECTORY = 136
static constexpr int	MODEL_NUMBER = 1060
static constexpr common::model::EHardwareType	motor_type = common::model::EHardwareType::XL430
static constexpr float	PROTOCOL_VERSION = 2.0
static constexpr uint8_t	VERSION_STARTUP_CONFIGURATION = 45
static constexpr int	VOLTAGE_CONVERSION = 10

Detailed Description

Definition at line 5 of file xh430_reg.hpp.

Member Typedef Documentation

TYPE_CURRENT_LIMIT

using ttl_driver::XH430Reg::TYPE_CURRENT_LIMIT = uint16_t

Definition at line 10 of file xh430_reg.hpp.

TYPE_GOAL_CURRENT

using ttl_driver::XH430Reg::TYPE_GOAL_CURRENT = uint16_t

Definition at line 13 of file xh430_reg.hpp.

TYPE_PRESENT_CURRENT

using ttl_driver::XH430Reg::TYPE_PRESENT_CURRENT = uint16_t

Definition at line 16 of file xh430_reg.hpp.

Member Data Documentation

ADDR_CURRENT_LIMIT

constexpr uint16_t ttl_driver::XH430Reg::ADDR_CURRENT_LIMIT = 38

staticconstexpr

Definition at line 9 of file xh430_reg.hpp.

ADDR_GOAL_CURRENT

constexpr uint16_t ttl_driver::XH430Reg::ADDR_GOAL_CURRENT = 102

staticconstexpr

Definition at line 12 of file xh430_reg.hpp.

ADDR_PRESENT_CURRENT

constexpr uint16_t ttl_driver::XH430Reg::ADDR_PRESENT_CURRENT = 126

staticconstexpr

Definition at line 15 of file xh430_reg.hpp.

MODEL_NUMBER

constexpr int ttl_driver::XH430Reg::MODEL_NUMBER = 1010

staticconstexpr

Definition at line 7 of file xh430_reg.hpp.

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

• xh430_reg.hpp