main.ino File Reference

#include <Arduino.h>
#include "dynamixel.h"
#include "axialMotor.h"
#include "encoder/Encoder.cpp"

Go to the source code of this file.

Classes
struct	dataPack
	A structure containing message data. More...

Functions
bool	readDataToStruct (dataPack *data)
	Iterates through message one byte at a time casts it to a dataPack struct. More...
void	readMessage (char *message)
	Iterates through message one character at a time until the end character is found and returns a char array of the message. More...
void	sendMessage (dataPack message)
	Sends an encoded message over serial. More...
void	moveAbsolute (uint16_t p1, uint16_t p2, uint16_t p3, uint16_t p4, uint16_t p5, uint16_t p6)
	move motors to an absolute position More...
void	moveIncremental (uint16_t p1, uint16_t p2, uint16_t p3, uint16_t p4, uint16_t p5, uint16_t p6)
	move motors to an incremental position More...
void	setDrawerGoalState (bool drawer1, bool drawer2, bool drawer3)
void	stopMotors ()
void	startMotors ()
void	setup ()
void	loop ()

Variables
const int	MESSAGE_SIZE = 19
char	endOfMessageChar = '\0'
const int	id3 = 221
const int	id1 = 222
const int	id2 = 223
Dynamixel	mot1 (id1, 0.879)
Dynamixel	mot2 (id2, 0.879 *2)
Dynamixel	mot3 (id3, 1)
long	oldPosition = -999

Function Documentation

void loop

(

)

Definition at line 77 of file main.ino.

void moveAbsolute	(	uint16_t	p1,
		uint16_t	p2,
		uint16_t	p3,
		uint16_t	p4,
		uint16_t	p5,
		uint16_t	p6
	)

move motors to an absolute position

Parameters

p1,...,p6

: position for each motor

Definition at line 211 of file main.ino.

void moveIncremental	(	uint16_t	p1,
		uint16_t	p2,
		uint16_t	p3,
		uint16_t	p4,
		uint16_t	p5,
		uint16_t	p6
	)

move motors to an incremental position

Parameters

p1,...,p6

: position for each motor

Definition at line 221 of file main.ino.

bool readDataToStruct

(

dataPack *

data

)

Iterates through message one byte at a time casts it to a dataPack struct.

Parameters

data	: empty dataPack object the message will be written to

Returns

data : dataPack object containging the unpacked message data

Definition at line 182 of file main.ino.

void readMessage

(

char *

message

)

Iterates through message one character at a time until the end character is found and returns a char array of the message.

Parameters

message

: empty character array

Returns

message : character array containing message

Definition at line 161 of file main.ino.

void sendMessage

(

dataPack

message

)

Sends an encoded message over serial.

Parameters

message

: empty dataPack object the message will be written to

Definition at line 202 of file main.ino.

void setDrawerGoalState	(	bool	drawer1,
		bool	drawer2,
		bool	drawer3
	)

Definition at line 226 of file main.ino.

void setup

(

)

Definition at line 62 of file main.ino.

void startMotors

(

)

Definition at line 238 of file main.ino.

void stopMotors

(

)

Definition at line 231 of file main.ino.

Variable Documentation

char endOfMessageChar = '\0'

Definition at line 11 of file main.ino.

const int id1 = 222

Definition at line 13 of file main.ino.

const int id2 = 223

Definition at line 14 of file main.ino.

const int id3 = 221

Definition at line 12 of file main.ino.

const int MESSAGE_SIZE = 19

Definition at line 10 of file main.ino.

Dynamixel mot1(id1, 0.879)

Dynamixel mot2(id2, 0.879 *2)

Dynamixel mot3(id3, 1)

long oldPosition = -999

Definition at line 76 of file main.ino.