Class to handle the communication with Dynamixel This class is the main interface with the DETI Dynamixel board. It possesses functions to interact with Dynamixel devices in all the ways defined in the available protocol dxProtocol.h.
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#include <DxComm.h>
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| DxComm (DevComm *dc) |
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void | dxl_reset (int series, int id) |
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bool | dxl_ping (int series, int id) |
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void | dxl_action (int series) |
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int | dxl_read_byte (int series, int id, int address) |
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void | dxl_write_byte (int series, int id, int address, int value) |
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int | dxl_read_word (int series, int id, int address) |
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void | dxl_write_word (int series, int id, int address, int value) |
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void | dxl_syncWrite_byte (int series, int nServos, int initialAddress, int *idArray, int *valuesArray) |
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void | dxl_syncWrite_word (int series, int nServos, int initialAddress, int *idArray, int *valuesArray) |
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void | dxl_regWrite_byte (int series, int id, int address, int value) |
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void | dxl_regWrite_word (int series, int id, int address, int value) |
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void | gotoPosition (int series, int id, int position, int speed) |
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void | writePosition (int series, int id, int position, int speed) |
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int | readPosition (int series, int id) |
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void | printError (ErrType err) |
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int | getDataFromRxPacket () |
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bool | timedOut (char errByte) |
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bool | hasError (char errByte) |
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char | txPacket [512] |
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char | rxPacket [256] |
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unsigned char | rxDataBytes [3] |
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DevComm * | transmitter |
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Class to handle the communication with Dynamixel This class is the main interface with the DETI Dynamixel board. It possesses functions to interact with Dynamixel devices in all the ways defined in the available protocol dxProtocol.h.
unsigned char DxComm::rxDataBytes[3] |
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private |
Array for the bytes from the response: ErByte : dataByte || dataLow : dataHigh
The documentation for this class was generated from the following files:
- src/detiDxDriver/DxComm.h
- src/detiDxDriver/DxComm.cpp