DynamixelProtocol Namespace Reference

Contains structures which define the layout of the binary communication with Dynamixel servos. More...

Classes
struct	GenericCmdHeader
struct	SyncWriteHeader
	Allows you to do a "synchronized write", where all recipients commit the value(s) at the same time, and do not send any response packets. More...
struct	SyncWriteEntry
struct	SyncWritePosSpeedEntry
	An element that follows a SyncWriteHeader, controls position and speed. More...
struct	SyncWriteContinuousRotationEntry
	An element that follows a SyncWriteHeader, enables or disables continuous rotation mode. More...
struct	SyncWriteLEDEntry
	An element that follows a SyncWriteHeader, toggles LED value. More...
struct	SyncWriteComplianceEntry
struct	SyncWritePunchEntry
struct	SyncWritePIDEntry
	For MX series servos, not AX or RX. More...
struct	SyncWriteTorqueEntry
struct	SyncWriteSoundHoldEntry
	clears the sound data max hold field of an AX-S1 More...
struct	SyncWriteSoundCountEntry
	clears the sound detected count field of an AX-S1 More...
struct	SyncWriteSoundHoldAndCountEntry
	clears the sound data max hold and sound detected count fields of an AX-S1 at the same time, see ClearSoundHold and ClearSoundCount More...
struct	WriteHeader
struct	BroadcastTorqueCmd
	Broadcasts a 'torque enable' (or disable) command to all servos using a write command to the appropriate address. More...
struct	BroadcastTorqueEntry
	Broadcasts a 'max torque' value to all servos using a write command to the appropriate address. More...
struct	BroadcastFullComplianceCmd
	Broadcasts a command to set controller parameters to 0, also disabling torque (see also BroadcastNoPunchCmd). More...
struct	BroadcastNoPunchCmd
	Sets 'punch' parameter to 0, eliminating torque jump (see also BroadcastFullComplianceCmd). More...
struct	BroadcastZeroSpeedCmd
	Sets 'speed' parameter to 0, ensuring no motion will occur from leftover 'free spin' commands. More...
struct	BroadcastBaudCmd
	Sets 'baud rate' parameter to the specified value, where resulting bits per second will be 2M / (baud+1). More...
struct	SetReturnDelayTimeCmd
	Sets 'return delay time' parameter to the specified value, where actual delay time is 2µs * value. More...
struct	SetStatusResponseLevelCmd
	Sets 'status response level' parameter to the specified value, see StatusResponseLevel. More...
struct	SetServoIDCmd
	Sends a command to change a servo's ID value (use carefully!). More...
struct	SetPosSpeedCmd
	Sets the position and speed for a single servo. More...
struct	ClearSoundHoldCmd
	clears the sound data max hold field of an AX-S1 More...
struct	ClearSoundCountCmd
	clears the sound detected count field of an AX-S1 More...
struct	ClearSoundHoldAndCountCmd
	clears the sound data max hold and sound detected count fields of an AX-S1 at the same time, see ClearSoundHold and ClearSoundCount More...
struct	GenericResponseHeader
	contains fields global to all response packets More...
struct	WriteResponse
	Expected response from a Write command (when sent to non-broadcast address). More...
struct	ServoSensorsResponse
	Expected response from a ReadServoSensorsCmd, common across AX, RX, and EX series at least. More...
struct	AXS1SensorsResponse
	Expected response from a ReadAXS1SensorsCmd. More...
struct	TorqueResponse
	Expected response from a ReadTorqueCmd. More...
struct	ServoInfoResponse
	Expected response from a ReadModelCmd. More...
struct	ReadCmd
	Contains fields which are global to all read commands, which can read a block of parameters from the unit. More...
struct	ReadServoSensorsCmd
	Requests a block of servo sensor values be sent, servo should respond with a ServoSensorsResponse. More...
struct	ReadAXS1SensorsCmd
	Requests a block of AX-S1 sensor values be sent, module should respond with a AXS1SensorsResponse. More...
struct	ReadTorqueCmd
	Requests the 'torque enable' status be sent, servo should respond with a TorqueResponse. More...
struct	ReadModelCmd
	Requests the 'model number' be sent, servo should respond with a ServoInfoResponse. More...
class	PingThread
	Attempts to ping the specified servo by reading its model number, and if successful, current sensor values. More...
Enumerations
enum	ModelID_t { MODEL_DX113 = 113, MODEL_DX116 = 116, MODEL_DX117 = 117, MODEL_AX12 = 12, MODEL_AX18 = 18, MODEL_AXS1 = 13, MODEL_RX10 = 10, MODEL_RX24 = 24, MODEL_RX28 = 28, MODEL_RX64 = 64, MODEL_MX28 = 29, MODEL_MX64 = 310, MODEL_MX106 = 320, MODEL_EX106P = 107, MODEL_UNKNOWN = static_cast<size_t>(1<<16) }
enum	StatusResponseLevel { RESPOND_NONE = 0, RESPOND_READ = 1, RESPOND_ALL = 2 }
	symbol names for status response level settings, see SetStatusResponseLevelCmd More...
enum	ResponseError_t { VOLTAGE_ERROR = 1, ANGLE_ERROR = 2, HEAT_ERROR = 4, RANGE_ERROR = 8, CHECKSUM_ERROR = 16, LOAD_ERROR = 32, INSTRUCTION_ERROR = 64 }
	Provides bitmasks for checking various error conditions in GenericResponseHeader::error. More...
Functions
const std::map < DynamixelProtocol::ModelID_t, const std::string >	dynamixelModels (knownModels,&knownModels[NUM_KNOWN_MODELS])
void	reportErrors (unsigned int servoID, unsigned int offset, unsigned char err)
unsigned char	nchecksum (const unsigned char *p, size_t len, size_t off=0)
	Compute a bitwise-negated checksum for a region of memory, with an optional offset.
unsigned char	nchecksum (const struct GenericCmdHeader &p, size_t len)
	'specialization' of nchecksum for the GenericCmdHeader, which should skip marker fields
unsigned char	nchecksum (const struct GenericResponseHeader &p, size_t len)
	'specialization' of nchecksum for the GenericResponseHeader, which should skip marker fields
template<class T >
void	updateChecksum (T &cmd)
	updates the checksum field of the specified structure, call this for a structure after you modify its fields
template<class T >
bool	validate (const T &msg)
	returns true if markers and checksum are valid
template<class R >
bool	readResponse (std::istream &is, R &response, unsigned int offset)
	reads a response from an input stream, attempts to handle line noise before response
template<class T >
std::ostream &	write (std::ostream &os, const T &cmd)
	writes a command into a stream, returning the stream for convenient ostream::flush call.
template<class T >
std::ostream &	write (std::ostream &os, const T &cmd, unsigned char &checksum)
	writes a command into a stream and incrementing a checksum, returning the stream for convenient ostream::flush call. Remember to bitwise-not (~) the checksum before transmission!
Variables
const char *	MODEL_UNKNOWN_NAME = "UNKNOWN"
const size_t	NUM_KNOWN_MODELS = 14
std::pair < DynamixelProtocol::ModelID_t, const std::string >	knownModels [NUM_KNOWN_MODELS]
const char *	ResponseErrorNames [9]
const unsigned int	MAX_ID = 0xFD
const unsigned int	BROADCAST_ID = 0xFE
const unsigned int	INVALID_ID = 0xFF
const unsigned int	MARKER_VALUE = 0xFF
const std::map < DynamixelProtocol::ModelID_t, const std::string >	dynamixelModels
	maps model numbers (e.g. from a ServoInfoResponse) to human-readable names
const unsigned char	RESPONSE_HEADER_LEN = sizeof(GenericResponseHeader)+1

Detailed Description

Contains structures which define the layout of the binary communication with Dynamixel servos.

Enumeration Type Documentation

enum ModelID_t

Enumerator:

MODEL_DX113
MODEL_DX116
MODEL_DX117
MODEL_AX12
MODEL_AX18
MODEL_AXS1
MODEL_RX10
MODEL_RX24
MODEL_RX28
MODEL_RX64
MODEL_MX28
MODEL_MX64
MODEL_MX106
MODEL_EX106P
MODEL_UNKNOWN

Definition at line 23 of file DynamixelProtocol.h.

enum ResponseError_t

Provides bitmasks for checking various error conditions in GenericResponseHeader::error.

Enumerator:

VOLTAGE_ERROR
ANGLE_ERROR
HEAT_ERROR
RANGE_ERROR
CHECKSUM_ERROR
LOAD_ERROR
INSTRUCTION_ERROR

Definition at line 347 of file DynamixelProtocol.h.

enum StatusResponseLevel

symbol names for status response level settings, see SetStatusResponseLevelCmd

Enumerator:

RESPOND_NONE	don't respond to anything
RESPOND_READ	only respond to read commands (see ReadCmd and GenericResponseHeader subclasses)
RESPOND_ALL	send a response packet for every command (see WriteResponse)

Definition at line 44 of file DynamixelProtocol.h.

Function Documentation

const std::map<DynamixelProtocol::ModelID_t, const std::string> DynamixelProtocol::dynamixelModels	(	knownModels	,
		&	knownModels[NUM_KNOWN_MODELS]
	)

unsigned char nchecksum	(	const struct GenericResponseHeader &	p,
		size_t	len
	)

'specialization' of nchecksum for the GenericResponseHeader, which should skip marker fields

Definition at line 366 of file DynamixelProtocol.h.

unsigned char nchecksum	(	const struct GenericCmdHeader &	p,
		size_t	len
	)

'specialization' of nchecksum for the GenericCmdHeader, which should skip marker fields

Definition at line 92 of file DynamixelProtocol.h.

unsigned char DynamixelProtocol::nchecksum	(	const unsigned char *	p,
		size_t	len,
		size_t	off = `0`
	)

Compute a bitwise-negated checksum for a region of memory, with an optional offset.

You can add checksums from multiple calls to this function, then bitwise-negate at the end to obtain final checksum value

Definition at line 53 of file DynamixelProtocol.h.

Referenced by nchecksum(), readResponse(), updateChecksum(), validate(), write(), and DynamixelDriver::writeSyncEntries().

bool DynamixelProtocol::readResponse	(	std::istream &	is,
		R &	response,
		unsigned int	offset
	)

reads a response from an input stream, attempts to handle line noise before response

returns false if an invalid response type is received

Definition at line 498 of file DynamixelProtocol.h.

Referenced by CommThread::readResponse(), and PingThread::run().

void reportErrors	(	unsigned int	servoID,
		unsigned int	offset,
		unsigned char	err
	)

Referenced by readResponse().

void DynamixelProtocol::updateChecksum ( T & cmd )

updates the checksum field of the specified structure, call this for a structure after you modify its fields

Definition at line 70 of file DynamixelProtocol.h.

Referenced by BroadcastBaudCmd::BroadcastBaudCmd(), BroadcastFullComplianceCmd::BroadcastFullComplianceCmd(), BroadcastNoPunchCmd::BroadcastNoPunchCmd(), BroadcastTorqueCmd::BroadcastTorqueCmd(), BroadcastTorqueEntry::BroadcastTorqueEntry(), BroadcastZeroSpeedCmd::BroadcastZeroSpeedCmd(), ClearSoundCountCmd::ClearSoundCountCmd(), ClearSoundHoldAndCountCmd::ClearSoundHoldAndCountCmd(), ClearSoundHoldCmd::ClearSoundHoldCmd(), ReadCmd::ReadCmd(), SetPosSpeedCmd::SetPosSpeedCmd(), SetReturnDelayTimeCmd::SetReturnDelayTimeCmd(), SetServoIDCmd::SetServoIDCmd(), and SetStatusResponseLevelCmd::SetStatusResponseLevelCmd().

bool DynamixelProtocol::validate ( const T & msg )

returns true if markers and checksum are valid

Definition at line 73 of file DynamixelProtocol.h.

Referenced by readResponse().

std::ostream& DynamixelProtocol::write	(	std::ostream &	os,
		const T &	cmd,
		unsigned char &	checksum
	)

writes a command into a stream and incrementing a checksum, returning the stream for convenient ostream::flush call. Remember to bitwise-not (~) the checksum before transmission!

Definition at line 631 of file DynamixelProtocol.h.

std::ostream& DynamixelProtocol::write	(	std::ostream &	os,
		const T &	cmd
	)

writes a command into a stream, returning the stream for convenient ostream::flush call.

Definition at line 629 of file DynamixelProtocol.h.

Referenced by DynamixelDriver::motionStarting(), CommThread::runloop(), DynamixelDriver::sendZeroTorqueCmd(), and DynamixelDriver::writeSyncEntries().

Variable Documentation

const unsigned int BROADCAST_ID = 0xFE

Definition at line 18 of file DynamixelProtocol.h.

const std::map<DynamixelProtocol::ModelID_t, const std::string> dynamixelModels

maps model numbers (e.g. from a ServoInfoResponse) to human-readable names

Referenced by DynamixelDriver::pingServos().

const unsigned int INVALID_ID = 0xFF

Definition at line 19 of file DynamixelProtocol.h.

std::pair<DynamixelProtocol::ModelID_t, const std::string> knownModels[NUM_KNOWN_MODELS]

Initial value:

 {
    std::make_pair(MODEL_DX113, "DX-113"),
    std::make_pair(MODEL_DX116, "DX-116"),
    std::make_pair(MODEL_DX117, "DX-117"),
    std::make_pair(MODEL_AX12, "AX-12"),
    std::make_pair(MODEL_AX18, "AX-18"),
    std::make_pair(MODEL_AXS1, "AX-S1"),
    std::make_pair(MODEL_RX10, "RX-10"),
    std::make_pair(MODEL_RX24, "RX-24"),
    std::make_pair(MODEL_RX28, "RX-28"),
    std::make_pair(MODEL_RX64, "RX-64"),
    std::make_pair(MODEL_MX28, "MX-28"),
    std::make_pair(MODEL_MX64, "MX-64"),
    std::make_pair(MODEL_MX106, "MX-106"),
    std::make_pair(MODEL_EX106P, "EX-106+"),
  }

Definition at line 14 of file DynamixelProtocol.cc.

const unsigned int MARKER_VALUE = 0xFF

Definition at line 20 of file DynamixelProtocol.h.

Referenced by readResponse().

const unsigned int MAX_ID = 0xFD

Definition at line 17 of file DynamixelProtocol.h.

const char * MODEL_UNKNOWN_NAME = "UNKNOWN"

Definition at line 11 of file DynamixelProtocol.cc.

Referenced by ServoInfoResponse::getModelString(), and PingThread::run().

const size_t NUM_KNOWN_MODELS = 14

Definition at line 13 of file DynamixelProtocol.cc.

const unsigned char RESPONSE_HEADER_LEN = sizeof(GenericResponseHeader)+1

Definition at line 368 of file DynamixelProtocol.h.

const char * ResponseErrorNames

Initial value:

 {
    "VOLTAGE_ERROR",
    "ANGLE_ERROR",
    "HEAT_ERROR",
    "RANGE_ERROR",
    "CHECKSUM_ERROR",
    "LOAD_ERROR",
    "INSTRUCTION_ERROR",
    "UNKNOWN_ERROR",
    NULL
  }

Definition at line 32 of file DynamixelProtocol.cc.

DynamixelProtocol Namespace Reference

Classes

Enumerations

Functions

Variables

Detailed Description

Enumeration Type Documentation

Function Documentation

Variable Documentation