DETI-Dynamixel Interface  1
DxComm Class Reference

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. More...

#include <DxComm.h>

Collaboration diagram for DxComm:

Public Member Functions

 DxComm (DevComm *dc)
 
void dxl_reset (int series, int id)
 
bool dxl_ping (int series, int id)
 
void dxl_action (int series)
 
int dxl_read_byte (int series, int id, int address)
 
void dxl_write_byte (int series, int id, int address, int value)
 
int dxl_read_word (int series, int id, int address)
 
void dxl_write_word (int series, int id, int address, int value)
 
void dxl_syncWrite_byte (int series, int nServos, int initialAddress, int *idArray, int *valuesArray)
 
void dxl_syncWrite_word (int series, int nServos, int initialAddress, int *idArray, int *valuesArray)
 
void dxl_regWrite_byte (int series, int id, int address, int value)
 
void dxl_regWrite_word (int series, int id, int address, int value)
 
void gotoPosition (int series, int id, int position, int speed)
 
void writePosition (int series, int id, int position, int speed)
 
int readPosition (int series, int id)
 

Private Member Functions

void printError (ErrType err)
 
int getDataFromRxPacket ()
 
bool timedOut (char errByte)
 
bool hasError (char errByte)
 

Private Attributes

char txPacket [512]
 
char rxPacket [256]
 
unsigned char rxDataBytes [3]
 
DevCommtransmitter
 

Detailed Description

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.

Field Documentation

unsigned char DxComm::rxDataBytes[3]
private

Array for the bytes from the response: ErByte : dataByte || dataLow : dataHigh


The documentation for this class was generated from the following files: