dynamixel_protocol.h¶
Dynamixel protocol definitions.
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DXL_HEADER¶ 1
((uint8_t[]){0xFF,0xFF,0xFD})
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enum
xl320_baudrate_t¶ - XL320_B_9600
= 0 - XL320 available baudrate : 9600.
- XL320_B_57600
= 1 - XL320 available baudrate : 57600.
- XL320_B_115200
= 2 - XL320 available baudrate : 115200.
- XL320_B_1000000
= 3 - XL320 available baudrate : 1000000.
- XL320_B_9600
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enum
xl320_register8_t¶ - XL320_VERSION
= 2 - Information on the version of firmware [R].
- XL320_ID
= 3 - ID of Dynamixel [RW] (default=1 ; min=0 ; max=252)
- XL320_BAUD_RATE
= 4 - Baud Rate of Dynamixel [RW] (default=3 ; min=0 ; max=3)
- XL320_RETURN_DELAY_TIME
= 5 - Return Delay Time [RW] (default=250 ; min=0 ; max=254)
- XL320_CONTROL_MODE
= 11 - Control Mode [RW] (default=2 ; min=1 ; max=2)
- XL320_LIMIT_TEMPERATURE
= 12 - Internal Limit Temperature [RW] (default=65 ; min=0 ; max=150)
- XL320_LOWER_LIMIT_VOLTAGE
= 13 - Lowest Limit Voltage [RW] (default=60 ; min=50 ; max=250)
- XL320_UPPER_LIMIT_VOLTAGE
= 14 - Upper Limit Voltage [RW] (default=90 ; min=50 ; max=250)
- XL320_RETURN_LEVEL
= 17 - Return Level [RW] (default=2 ; min=0 ; max=2)
- XL320_ALARM_SHUTDOWN
= 18 - Shutdown for Alarm [RW] (default=3 ; min=0 ; max=7)
- XL320_TORQUE_ENABLE
= 24 - Torque On/Off [RW] (default=0 ; min=0 ; max=1)
- XL320_LED
= 25 - LED On/Off [RW] (default=0 ; min=0 ; max=7)
- XL320_D_GAIN
= 27 - D Gain [RW] (default=0 ; min=0 ; max=254)
- XL320_I_GAIN
= 28 - I Gain [RW] (default=0 ; min=0 ; max=254)
- XL320_P_GAIN
= 29 - P Gain [RW] (default=32 ; min=0 ; max=254)
- XL320_PRESENT_VOLTAGE
= 45 - Current Voltage [R].
- XL320_PRESENT_TEMPERATURE
= 46 - Present temperature [R].
- XL320_REGISTERED_INST
= 47 - Registered Instruction [R] (default=0)
- XL320_MOVING
= 49 - Moving [R] (default=0)
- XL320_ERROR
= 50 - Hardware error status [R] (default=0)
- XL320_VERSION
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enum
xl320_register16_t¶ - XL320_MODEL_NUMBER
= 0 - Model number [R] (default=350)
- XL320_CW_ANGLE_LIMIT
= 6 - clockwise Angle Limit [RW] (default=0 ; min=0 ; max=1023)
- XL320_CCW_ANGLE_LIMIT
= 8 - counterclockwise Angle Limit [RW] (default=1023 ; min=0 ; max=1023)
- XL320_MAX_TORQUE
= 15 Lowest byte of Max.
Torque [RW] (default=1023 ; min=0 ; max=1023)
- XL320_GOAL_POSITION
= 30 - Goal Position [RW] (min=0 ; max=1023)
- XL320_GOAL_VELOCITY
= 32 - Goal Speed [RW] (min=0 ; max=2047)
- XL320_GOAL_TORQUE
= 35 - Goal Torque [RW] (min=0 ; max=1023)
- XL320_PRESENT_POSITION
= 37 - Current Position [R].
- XL320_PRESENT_SPEED
= 39 - Current Speed [R].
- XL320_PRESENT_LOAD
= 41 - Current Load [R].
- XL320_PUNCH
= 51 - Punch [RW] (default=32 ; min=0 ; max=1023)
- XL320_MODEL_NUMBER
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enum
dynamixel_intruction_t¶ - DXL_INST_PING
= 0x01 - checks if ID is associated to a Device
- DXL_INST_READ
= 0x02 - read data from the Device
- DXL_INST_WRITE
= 0x03 - write data on the Device
- DXL_INST_REG_WRITE
= 0x04 - registers the write instruction to a standby status
- DXL_INST_ACTION
= 0x05 - executes the write instruction previously registered
- DXL_INST_FACTORY_RESET
= 0x06 - resets the Control Table to its initial factory default settings
- DXL_INST_REBOOT
= 0x08 - reboot the Device
- DXL_INST_STATUS
= 0x55 - Return Instruction for the Instruction Packet.
- DXL_INST_SYNC_READ
= 0x82 - (Multiple devices) read data with same Address and length at once
- DXL_INST_SYNC_WRITE
= 0x83 - (Multiple devices) write data on the same Address and length at once
- DXL_INST_BULK_READ
= 0x92 - (Multiple devices) read data from different Addresses and lengths at once
- DXL_INST_BULK_WRITE
= 0x93 - (Multiple devices) write data on different Addresses and lengths at once
- DXL_INST_PING