DETI-Dynamixel Interface
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00001 #ifndef DX_MSG_HANDLER_H_ 00002 #define DX_MSG_HANDLER_H_ 00003 00008 class DxMsgHandler { 00009 public: 00010 DxMsgHandler(); 00011 00012 void dxl_reset(int series, int id); 00013 void dxl_ping(int series, int id); 00014 void dxl_action(int series); 00015 int dxl_read_byte(int series, int id, int address); 00016 void dxl_write_byte(int series, int id, int address, int value); 00017 int dxl_read_word(int series, int id, int address); 00018 void dxl_write_word(int series, int id, int address, int value); 00019 void dxl_syncWrite_byte(int series, int nServos, int bytesPerServo, int initialAddress, int *idArray, int *valuesArray); 00020 void dxl_syncWrite_word(int series, int nServos, int wordsPerServo, int initialAddress, int *idArray, int *valuesArray); 00021 void dxl_regWrite_byte(int series, int id, int address, int value); 00022 void dxl_regWrite_word(int series, int id, int address, int value); 00023 00024 void gotoPosition(); 00025 void writePosition(); 00026 int readPosition(); 00027 00028 private: 00029 char txPacket[512]; 00030 char rxPacket[256]; 00031 00032 00033 }; 00034 00035 #endif /* DX_MSG_HANDLER_H_ */