Dynamixel Class Reference

#include <dynamixel.h>

Public Member Functions
	Dynamixel (int idNumber, float ratio=1)
	~Dynamixel ()
bool	init ()
	Initialize Dynamixel servo motor and verify that it is reachable. More...
bool	setOperatingMode ()
	Set the dynamixel in joint mode. More...
void	moveMotor (int32_t pos)
	Set the goal position of the dynamixel. More...
int32_t	getPosition ()
	Get the current position of the Dynamixel. More...
void	torque (bool onoff)

Private Attributes
DynamixelWorkbench	dxl_wb
const int	BAUDRATE = 57600
int	id
	Dynamixel id. More...
float	gearRatio
	Gear ratio for the motor's joint. More...

Detailed Description

Definition at line 10 of file dynamixel.h.

Constructor & Destructor Documentation

Dynamixel::Dynamixel	(	int	idNumber,
		float	ratio = 1
	)

Definition at line 20 of file dynamixel.h.

Dynamixel::~Dynamixel

(

)

Definition at line 26 of file dynamixel.h.

Member Function Documentation

int32_t Dynamixel::getPosition

(

)

Get the current position of the Dynamixel.

Returns

pos : integer of the current position

Definition at line 126 of file dynamixel.h.

bool Dynamixel::init

(

)

Initialize Dynamixel servo motor and verify that it is reachable.

Returns

success (bool)

Definition at line 33 of file dynamixel.h.

void Dynamixel::moveMotor

(

int32_t

pos

)

Set the goal position of the dynamixel.

Parameters

pos	: integer of the goal position

Definition at line 116 of file dynamixel.h.

bool Dynamixel::setOperatingMode

(

)

Set the dynamixel in joint mode.

Returns

success (bool)

Definition at line 88 of file dynamixel.h.

void Dynamixel::torque

(

bool

onoff

)

Definition at line 134 of file dynamixel.h.

Member Data Documentation

const int Dynamixel::BAUDRATE = 57600

private

Definition at line 13 of file dynamixel.h.

DynamixelWorkbench Dynamixel::dxl_wb

private

Definition at line 12 of file dynamixel.h.

float Dynamixel::gearRatio

private

Gear ratio for the motor's joint.

Definition at line 17 of file dynamixel.h.

int Dynamixel::id

private

Dynamixel id.

Definition at line 15 of file dynamixel.h.

---

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

• arduino_code/src/main/dynamixel.h