DETI-Dynamixel Interface  1
dxConsole.h
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1 #ifndef _AX_CONSOLE
2 #define _AX_CONSOLE
3 
4 #include <stdio.h>
5 #include <stdlib.h>
6 #include <unistd.h>
7 #include <fcntl.h>
8 //#include <cstdlib>
9 //#include <termio.h>
10 //#include <unistd.h>
11 #include <dynamixelDefines.h>
12 #include "DxComm.h"
13 #include "DevCommUsb.h"
14 
15 
19 /* Global variables */
20 int chosenID;
21 int chosenDevice;
22 int chosenSeries;
23 int CommStatus;
24 int deviceIndex=0;
25 
26 /* Functions */
27 int mainMenu();
28 void searchAndList();
29 void setChosenID();
30 void setID();
31 void setBaud();
32 void setInterfaceBaud();
33 
34 // XX-XX servo related functions
35 void printMotorData();
36 void motorToPos();
37 void motorAngleLimits();
38 void motorTorqueLimit();
39 void motorDefaultValues();
40 
41 // 6-axis IMU related functions
42 void printImuData();
43 
44 // Motors and IMU related functions
45 void toggleLed();
46 
47 // AX-S1 related functions
48 void printAXs1Data();
49 
50 // Auxiliary functions
51 void backToMainMenu();
52 void PrintCommStatus(int CommStatus);
53 void PrintErrorCode();
54 
55 
56 #endif
57