Classes
struct	ButtonState

struct	MotorState

struct	PIDGain

Public Member Functions
	DynamixelBus (const std::string &dev_name)

std::optional< std::vector< std::pair< int, MotorState > > >	GetMotorStates (const std::vector< int > &ids)

std::optional< uint16_t >	GetPositionDGain (int id)

std::optional< uint16_t >	GetPositionIGain (int id)

std::optional< uint16_t >	GetPositionPGain (int id)

std::optional< DynamixelBus::PIDGain >	GetPositionPIDGain (int id)

std::optional< std::vector< std::pair< int, int > > >	GroupFastSyncRead (const std::vector< int > &ids, int addr, int len)

std::optional< std::vector< std::pair< int, double > > >	GroupFastSyncReadEncoder (const std::vector< int > &ids)

std::optional< std::vector< std::pair< int, int > > >	GroupFastSyncReadOperatingMode (const std::vector< int > &ids, bool use_cache=false)

std::optional< std::vector< std::pair< int, int > > >	GroupFastSyncReadTorqueEnable (const std::vector< int > &ids)

void	GroupSyncWriteOperatingMode (const std::vector< std::pair< int, int > > &id_and_mode_vector)

void	GroupSyncWriteSendPosition (const std::vector< std::pair< int, double > > &id_and_position_vector)

void	GroupSyncWriteSendTorque (const std::vector< std::pair< int, double > > &id_and_torque_vector)

void	GroupSyncWriteTorqueEnable (const std::vector< int > &ids, int enable)

void	GroupSyncWriteTorqueEnable (const std::vector< std::pair< int, int > > &id_and_eanble_vector)

bool	OpenPort ()

bool	Ping (int id)

std::optional< std::pair< int, ButtonState > >	ReadButtonStatus (int id)

std::optional< double >	ReadEncoder (int id)

std::optional< int >	ReadOperatingMode (int id, bool use_cache=false)

std::optional< int >	ReadTemperature (int id)

std::optional< int >	ReadTorqueEnable (int id)

void	SendCurrent (int id, double current)

void	SendGoalPosition (int id, int goal_position)

bool	SendOperatingMode (int id, int mode)

void	SendTorque (int id, double joint_torque)

void	SendTorqueEnable (int id, int onoff)

void	SendVibration (int id, int level)

bool	SetBaudRate (int baudrate)

void	SetPositionDGain (int id, uint16_t d_gain)

void	SetPositionIGain (int id, uint16_t i_gain)

void	SetPositionPGain (int id, uint16_t p_gain)

void	SetPositionPIDGain (int id, const DynamixelBus::PIDGain &pid_gain)

void	SetPositionPIDGain (int id, std::optional< uint16_t > p_gain, std::optional< uint16_t > i_gain, std::optional< uint16_t > d_gain)

void	SetPositionPIDGain (int id, uint16_t p_gain, uint16_t i_gain, uint16_t d_gain)

void	SetTorqueConstant (const std::vector< double > &torque_constant)

Static Public Attributes
static constexpr int	kAddrCurrentTemperature = 146

static constexpr uint16_t	kAddrGoalCurrent = 102

static constexpr uint16_t	kAddrGoalPosition = 116

static constexpr uint16_t	kAddrGoalVibrationLevel = 102

static constexpr uint16_t	kAddrOperatingMode = 11

static constexpr uint16_t	kAddrPositionDGain = 80

static constexpr uint16_t	kAddrPositionIGain = 82

static constexpr uint16_t	kAddrPositionPGain = 84

static constexpr uint16_t	kAddrPresentButtonState = 132

static constexpr uint16_t	kAddrPresentCurrent = 126

static constexpr uint16_t	kAddrPresentPosition = 132

static constexpr uint16_t	kAddrPresentVelocity = 128

static constexpr uint16_t	kAddrTorqueEnable = 64

static constexpr int	kCurrentBasedPositionControlMode = 5

static constexpr int	kCurrentControlMode = 0

static constexpr int	kDefaultBaudrate = 2000000

static constexpr float	kProtocolVersion = 2.0

static constexpr int	kTorqueDisable = 0

static constexpr int	kTorqueEnable = 1

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

/external/rby1-sdk/include/rby1-sdk/base/dynamixel_bus.h

Classes

Public Member Functions

Static Public Attributes