feetech_protocol.h
Feetech protocol definitions.
-
FEETECH_START
-
-
enum
scs15_baudrate_t
- SCS15_B_1M
= 0
- SCS15_B_0_5M
= 1
- SCS15_B_250K
= 2
- SCS15_B_128K
= 3
- SCS15_B_115200
= 4
- SCS15_B_76800
= 5
- SCS15_B_57600
= 6
- SCS15_B_38400
= 7
-
enum
scs15_register8_t
- SCS15_ID
= 5
- SCS15_BAUD_RATE
= 6
- SCS15_RETURN_DELAY_TIME
= 7
- SCS15_RETURN_LEVEL
= 8
- SCS15_LIMIT_TEMPERATURE
= 13
- SCS15_MAX_LIMIT_VOLTAGE
= 14
- SCS15_MIN_LIMIT_VOLTAGE
= 15
- SCS15_ALARM_LED
= 18
- SCS15_ALARM_SHUTDOWN
= 19
- SCS15_COMPLIANCE_P
= 21
- SCS15_COMPLIANCE_D
= 22
- SCS15_COMPLIANCE_I
= 23
- SCS15_CW_DEAD
= 26
- SCS15_CCW_DEAD
= 27
- SCS15_TORQUE_ENABLE
= 40
- SCS15_LED
= 41
- SCS15_LOCK
= 48
- SCS15_PRESENT_VOLTAGE
= 62
- SCS15_PRESENT_TEMPERATURE
= 63
- SCS15_REGISTERED_INSTRUCTION
= 64
- SCS15_ERROR
= 65
- SCS15_MOVING
= 66
-
enum
scs15_register16_t
- SCS15_MODEL_NUMBER
= 0
- SCS15_VERSION
= 3
- SCS15_MIN_ANGLE_LIMIT
= 9
- SCS15_MAX_ANGLE_LIMIT
= 11
- SCS15_MAX_TORQUE
= 16
- SCS15_PUNCH
= 24
- SCS15_IMAX
= 28
- SCS15_OFFSET
= 30
- SCS15_GOAL_POSITION
= 42
- SCS15_GOAL_TIME
= 44
- SCS15_GOAL_SPEED
= 46
- SCS15_PRESENT_POSITION
= 56
- SCS15_PRESENT_SPEED
= 58
- SCS15_PRESENT_LOAD
= 60
- SCS15_VIR_POSITION
= 67
- SCS15_CURRENT
= 69
-
enum
feetech_intruction_t
- INST_PING
= 0x01
- INST_READ
= 0x02
- INST_WRITE
= 0x03
- INST_REG_WRITE
= 0x04
- INST_ACTION
= 0x05
- INST_RESET
= 0x06
- INST_SYNC_WRITE
= 0x83