Class DynamixelWorkbench

Defined in File dynamixel_workbench.h

Inheritance Relationships

Base Type

public DynamixelDriver (Class DynamixelDriver)

Class Documentation

class DynamixelWorkbench : public DynamixelDriver 

Public Functions

DynamixelWorkbench()

~DynamixelWorkbench()

bool torque(uint8_t id, int32_t onoff, const char **log = NULL)

bool torqueOn(uint8_t id, const char **log = NULL)

bool torqueOff(uint8_t id, const char **log = NULL)

bool changeID(uint8_t id, uint8_t new_id, const char **log = NULL)

bool changeBaudrate(uint8_t id, uint32_t new_baudrate, const char **log = NULL)

bool changeProtocolVersion(uint8_t id, uint8_t version, const char **log = NULL)

bool itemWrite(uint8_t id, const char *item_name, int32_t data, const char **log = NULL)

bool itemRead(uint8_t id, const char *item_name, int32_t *data, const char **log = NULL)

bool led(uint8_t id, int32_t onoff, const char **log = NULL)

bool ledOn(uint8_t id, const char **log = NULL)

bool ledOff(uint8_t id, const char **log = NULL)

bool setNormalDirection(uint8_t id, const char **log = NULL)

bool setReverseDirection(uint8_t id, const char **log = NULL)

bool setVelocityBasedProfile(uint8_t id, const char **log = NULL)

bool setTimeBasedProfile(uint8_t id, const char **log = NULL)

bool setSecondaryID(uint8_t id, uint8_t secondary_id, const char **log = NULL)

bool setCurrentControlMode(uint8_t id, const char **log = NULL)

bool setTorqueControlMode(uint8_t id, const char **log = NULL)

bool setVelocityControlMode(uint8_t id, const char **log = NULL)

bool setPositionControlMode(uint8_t id, const char **log = NULL)

bool setExtendedPositionControlMode(uint8_t id, const char **log = NULL)

bool setMultiTurnControlMode(uint8_t id, const char **log = NULL)

bool setCurrentBasedPositionControlMode(uint8_t id, const char **log = NULL)

bool setPWMControlMode(uint8_t id, const char **log = NULL)

bool setOperatingMode(uint8_t id, uint8_t index, const char **log = NULL)

bool jointMode(uint8_t id, int32_t velocity = 0, int32_t acceleration = 0, const char **log = NULL)

bool wheelMode(uint8_t id, int32_t acceleration = 0, const char **log = NULL)

bool currentBasedPositionMode(uint8_t id, int32_t current = 0, const char **log = NULL)

bool goalPosition(uint8_t id, int value, const char **log = NULL)

bool goalPosition(uint8_t id, float radian, const char **log = NULL)

bool goalSpeed(uint8_t id, int value, const char **log = NULL)

bool goalVelocity(uint8_t id, int value, const char **log = NULL)

bool goalVelocity(uint8_t id, float velocity, const char **log = NULL)

bool getPresentPositionData(uint8_t id, int32_t *data, const char **log = NULL)

bool getRadian(uint8_t id, float *radian, const char **log = NULL)

bool getPresentVelocityData(uint8_t id, int32_t *data, const char **log = NULL)

bool getVelocity(uint8_t id, float *velocity, const char **log = NULL)

int32_t convertRadian2Value(uint8_t id, float radian)

float convertValue2Radian(uint8_t id, int32_t value)

int32_t convertRadian2Value(float radian, int32_t max_position, int32_t min_position, float max_radian, float min_radian)

float convertValue2Radian(int32_t value, int32_t max_position, int32_t min_position, float max_radian, float min_radian)

int32_t convertVelocity2Value(uint8_t id, float velocity)

float convertValue2Velocity(uint8_t id, int32_t value)

int16_t convertCurrent2Value(uint8_t id, float current)

int16_t convertCurrent2Value(float current)

float convertValue2Current(uint8_t id, int16_t value)

float convertValue2Current(int16_t value)

float convertValue2Load(int16_t value)