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dynamixel.h
1 // Definitions for the MX series of Dynamixel servos
2 // File: dynamixel.h
3 
4 // Ensure header is included only once
5 #ifndef DYNAMIXEL_H
6 #define DYNAMIXEL_H
7 
8 // DynamixelMX class
9 class DynamixelMX
10 {
11 public:
12  // MX series register map
13  enum
14  {
15  P_MODEL_NUMBER_L = 0,
16  P_MODEL_NUMBER_H = 1,
17  P_VERSION = 2,
18  P_ID = 3,
19  P_BAUD_RATE = 4,
20  P_RETURN_DELAY_TIME = 5,
21  P_CW_ANGLE_LIMIT_L = 6,
22  P_CW_ANGLE_LIMIT_H = 7,
23  P_CCW_ANGLE_LIMIT_L = 8,
24  P_CCW_ANGLE_LIMIT_H = 9,
25  P_LIMIT_TEMPERATURE = 11,
26  P_VOLTAGE_LOWER_LIMIT = 12,
27  P_VOLTAGE_UPPER_LIMIT = 13,
28  P_MAX_TORQUE_L = 14,
29  P_MAX_TORQUE_H = 15,
30  P_RETURN_LEVEL = 16,
31  P_ALARM_LED = 17,
32  P_ALARM_SHUTDOWN = 18,
33  P_TORQUE_ENABLE = 24,
34  P_LED = 25,
35  P_D_GAIN = 26,
36  P_I_GAIN = 27,
37  P_P_GAIN = 28,
38  P_GOAL_POSITION_L = 30,
39  P_GOAL_POSITION_H = 31,
40  P_MOVING_SPEED_L = 32,
41  P_MOVING_SPEED_H = 33,
42  P_TORQUE_LIMIT_L = 34,
43  P_TORQUE_LIMIT_H = 35,
44  P_PRESENT_POSITION_L = 36,
45  P_PRESENT_POSITION_H = 37,
46  P_PRESENT_SPEED_L = 38,
47  P_PRESENT_SPEED_H = 39,
48  P_PRESENT_LOAD_L = 40,
49  P_PRESENT_LOAD_H = 41,
50  P_PRESENT_VOLTAGE = 42,
51  P_PRESENT_TEMPERATURE = 43,
52  P_REGISTERED = 44,
53  P_MOVING = 46,
54  P_LOCK = 47,
55  P_PUNCH_L = 48,
56  P_PUNCH_H = 49,
57  P_CURRENT_L = 68,
58  P_CURRENT_H = 69,
59  P_TORQUE_CONTROL_ENABLE = 70,
60  P_GOAL_TORQUE_L = 71,
61  P_GOAL_TORQUE_H = 72,
62  P_GOAL_ACCELERATION = 73,
63  MX_REGISTER_NUM
64  };
65 };
66 
67 #endif /* DYNAMIXEL_H */
68 // EOF