Dynamixel driver

Drivers for any device using dynamixel’s servomotors communication bus.

The bus is mainly used for servomotors, but a device can be anything : sensors, other actuators.

enum @119

DYNAMIXEL_OK

Success.

DYNAMIXEL_TIMEOUT

No response from the device.

DYNAMIXEL_BUFFER_TOO_SMALL

Buffer is too small for the message.

DYNAMIXEL_INVALID_MESSAGE

Invalid message received.

uint8_t dynamixel_id_t

device id type

uint16_t dynamixel_addr_t

register address type

int dynamixel_ping(uart_half_duplex_t * stream, dynamixel.h::dynamixel_id_t id)

Send a PING message to a device.

Parameters

stream:the stream id:the device address

Return values

• DYNAMIXEL_OK if a device answered
• DYNAMIXEL_TIMEOUT if the device did not answer
• DYNAMIXEL_BUFFER_TOO_SMALL if buffer is too small for the message
• DYNAMIXEL_INVALID_MESSAGE if an invalid message was received

void dynamixel_init(dynamixel_t * device, uart_half_duplex_t * stream, dynamixel.h::dynamixel_id_t id)

Initialize a Dynamixel device.

Parameters

device:the Dynamixel device stream:the stream id:the device address

int dynamixel_write8(const dynamixel_t * device, dynamixel.h::dynamixel_addr_t reg, uint8_t value)

Write to a device 8bits register.

Parameters

device:the Dynamixel device reg:the register to write value:the value to write

Return values

• DYNAMIXEL_OK on success
• DYNAMIXEL_TIMEOUT if the device did not answer
• DYNAMIXEL_BUFFER_TOO_SMALL if buffer is too small for the message
• DYNAMIXEL_INVALID_MESSAGE if an invalid message was received

int dynamixel_write16(const dynamixel_t * device, dynamixel.h::dynamixel_addr_t reg, uint16_t value)

Write to a device 16bits register.

Parameters

device:the Dynamixel device reg:the register to write value:the value to write

Return values

• DYNAMIXEL_OK on success
• DYNAMIXEL_TIMEOUT if the device did not answer
• DYNAMIXEL_BUFFER_TOO_SMALL if buffer is too small for the message
• DYNAMIXEL_INVALID_MESSAGE if an invalid message was received

int dynamixel_write(const dynamixel_t * device, dynamixel.h::dynamixel_addr_t reg, const uint8_t * data, msp430_types.h::size_t length)

Write to a device address.

Parameters

device:the Dynamixel device reg:the address to start write data:the data to write length:the data length

Return values

• DYNAMIXEL_OK on success
• DYNAMIXEL_TIMEOUT if the device did not answer
• DYNAMIXEL_BUFFER_TOO_SMALL if buffer is too small for the message
• DYNAMIXEL_INVALID_MESSAGE if an invalid message was received

int dynamixel_read8(const dynamixel_t * device, dynamixel.h::dynamixel_addr_t reg, uint8_t * value)

Read from a device 8bits register.

Parameters

device:the Dynamixel device reg:the register to read value:the value to read

Return values

• DYNAMIXEL_OK on success
• DYNAMIXEL_TIMEOUT if the device did not answer
• DYNAMIXEL_BUFFER_TOO_SMALL if buffer is too small for the message
• DYNAMIXEL_INVALID_MESSAGE if an invalid message was received

int dynamixel_read16(const dynamixel_t * device, dynamixel.h::dynamixel_addr_t reg, uint16_t * value)

Read from a device 16bits register.

Parameters

device:the Dynamixel device reg:the register to read value:the value to read

Return values

• DYNAMIXEL_OK on success
• DYNAMIXEL_TIMEOUT if the device did not answer
• DYNAMIXEL_BUFFER_TOO_SMALL if buffer is too small for the message
• DYNAMIXEL_INVALID_MESSAGE if an invalid message was received

int dynamixel_read(const dynamixel_t * device, dynamixel.h::dynamixel_addr_t reg, uint8_t * data, msp430_types.h::size_t length)

Read from a device address.

Parameters

device:the Dynamixel device reg:the address to start read data:the data buffer to fill length:the data length

Return values

• DYNAMIXEL_OK on success
• DYNAMIXEL_TIMEOUT if the device did not answer
• DYNAMIXEL_BUFFER_TOO_SMALL if buffer is too small for the message
• DYNAMIXEL_INVALID_MESSAGE if an invalid message was received

struct dynamixel_t

Descriptor struct for a dynamixel device.

uart_half_duplex_t * stream

the stream used

dynamixel.h::dynamixel_id_t id

the device address