DynamixelBus¶

rb::DynamixelBus is the direct peripheral-access class for Dynamixel-based devices. This page is intentionally close in spirit to ROBOTIS’s own PortHandler-style reference: open the bus, configure communication, then read or write grouped or per-device values.

Header

#include <rby1-sdk/base/dynamixel_bus.h>

Declaration

Namespace	`rb`
Kind	`class`
Primary role	Open a Dynamixel device bus and perform low-level read or write operations for attached devices.

Public Member Functions

Method group	Purpose	Notes
`DynamixelBus(...)`, `OpenPort()`, `SetBaudRate(...)`	Configure the port and communication settings.	This is the bus bring-up sequence.
`Ping(...)` and `Read*()` helpers	Check presence and read one device’s state or configuration.	Covers encoder, torque-enable, operating mode, temperature, and buttons.
`GroupFastSyncRead*()` and `GetMotorStates(...)`	Read multiple devices efficiently in one transaction.	Use for synchronized state polling.
`Send()` and `GroupSyncWrite()`	Write torque, position, operating mode, or vibration values.	Use the grouped variants for multi-device updates.
`GetPositionGain()` and `SetPositionGain(...)`	Inspect or change PID gains.	Covers individual gains or the combined PID record.
`SetTorqueConstant(...)`	Configure torque constants used by the helper routines.	Useful when mapping current or torque values.

Numeric Fields, Units & Encodings

Method or field family	Unit / encoding	Notes
`SetBaudRate(baudrate)`	Baud rate value	Serial line speed passed as an integer baud setting.
`ReadEncoder()`, `GroupFastSyncReadEncoder()`, `MotorState::position`	`rad`	Encoder values converted into joint angle.
`MotorState::velocity`	`rad/s`	Present motor velocity.
`SendCurrent(...)`, `MotorState::current`	`A`	Motor current command/readback.
`SendTorque(...)`, `GroupSyncWriteSendTorque(...)`, `MotorState::torque`	`Nm`	Torque command/readback.
`ReadTemperature()`, `MotorState::temperature`	`deg C`	Motor temperature values.
`SendGoalPosition(...)`, `GroupSyncWriteSendPosition(...)`	Encoder units	Public Python docs explicitly describe these as raw encoder units rather than radians.
`SetPositionGain(...)`, `GetPositionGain(...)`, `PIDGain::p_gain/i_gain/d_gain`	Register value	Raw PID register values, not normalized gains.
`ReadOperatingMode(...)`, `SendOperatingMode(...)`, `GroupSyncWriteOperatingMode(...)`	Register / enum value	Operating-mode encoding from the motor firmware.
`ReadTorqueEnable(...)`, `GroupFastSyncReadTorqueEnable(...)`, `GroupSyncWriteTorqueEnable(...)`	`0` / `1`	Torque-enable flag values.
`ReadButtonStatus()` / `ButtonState::button`, `ButtonState::trigger`	State value	Exposed as integer button/trigger states. No physical unit is defined.
`SendVibration(level)`	Range `[0, 255]`	Raw vibration-level command.
`SetTorqueConstant(...)`	Not specified	Public C++/Python docs describe the parameter but do not assign a unit.

Detailed Reference

class DynamixelBus¶

Public Functions

explicit DynamixelBus(const std::string &dev_name)¶

~DynamixelBus()¶

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)¶

Public Static Attributes

static int kAddrCurrentTemperature = 146¶

static uint16_t kAddrGoalCurrent = 102¶

static uint16_t kAddrGoalPosition = 116¶

static uint16_t kAddrGoalVibrationLevel = 102¶

static uint16_t kAddrOperatingMode = 11¶

static uint16_t kAddrPositionDGain = 80¶

static uint16_t kAddrPositionIGain = 82¶

static uint16_t kAddrPositionPGain = 84¶

static uint16_t kAddrPresentButtonState = 132¶

static uint16_t kAddrPresentCurrent = 126¶

static uint16_t kAddrPresentPosition = 132¶

static uint16_t kAddrPresentVelocity = 128¶

static uint16_t kAddrTorqueEnable = 64¶

static int kCurrentBasedPositionControlMode = 5¶

static int kCurrentControlMode = 0¶

static int kDefaultBaudrate = 2000000¶

static float kProtocolVersion = 2.0¶

static int kTorqueDisable = 0¶

static int kTorqueEnable = 1¶

struct ButtonState¶

Public Members

int button¶

int trigger¶

struct MotorState¶

Public Members

double current¶

double position¶

int temperature¶

double torque¶

bool torque_enable¶

double velocity¶

struct PIDGain¶

Public Members

uint16_t d_gain¶

uint16_t i_gain¶

uint16_t p_gain¶

Related Types

Examples

module_test/gripper.cpp
module_test/head.cpp
module_test/tool_flange.cpp