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Dynamixel2Arduino.cpp
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/*******************************************************************************
* Copyright 2016 ROBOTIS CO., LTD.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/
#include "Dynamixel2Arduino.h"
namespace DYNAMIXEL{
const uint16_t model_number_table[] PROGMEM = {
AX12A, AX12W, AX18A,
RX10, RX24F, RX28, RX64,
DX113, DX116, DX117,
EX106,
MX12W, MX28, MX64, MX106,
MX28_2, MX64_2, MX106_2,
XL320,
XL330_M288,
XL330_M077,
XC330_M181,
XC330_M288,
XC330_T181,
XC330_T288,
XL430_W250,
XXL430_W250,
XC430_W150, XC430_W240,
XXC430_W250,
XM430_W210, XM430_W350,
XM540_W150, XM540_W270,
XH430_V210, XH430_V350, XH430_W210, XH430_W350,
XH540_V150, XH540_V270, XH540_W150, XH540_W270,
XD430_T210, XD430_T350,
XD540_T150, XD540_T270,
XW430_T200, XW430_T333,
XW540_T140, XW540_T260,
PRO_L42_10_S300_R,
PRO_L54_30_S400_R, PRO_L54_30_S500_R, PRO_L54_50_S290_R, PRO_L54_50_S500_R,
PRO_M42_10_S260_R, PRO_M42_10_S260_RA,
PRO_M54_40_S250_R, PRO_M54_40_S250_RA, PRO_M54_60_S250_R, PRO_M54_60_S250_RA,
PRO_H42_20_S300_R, PRO_H42_20_S300_RA,
PRO_H54_100_S500_R, PRO_H54_100_S500_RA, PRO_H54_200_S500_R, PRO_H54_200_S500_RA,
PRO_M42P_010_S260_R,
PRO_M54P_040_S250_R, PRO_M54P_060_S250_R,
PRO_H42P_020_S300_R,
PRO_H54P_100_S500_R, PRO_H54P_200_S500_R
};
const uint8_t model_number_table_count = sizeof(model_number_table)/sizeof(model_number_table[0]);
enum Functions{
SET_ID,
SET_BAUD_RATE,
SET_PROTOCOL,
SET_POSITION,
GET_POSITION,
SET_VELOCITY,
GET_VELOCITY,
SET_PWM,
GET_PWM,
SET_CURRENT,
GET_CURRENT,
LAST_DUMMY_FUNC = 0xFF
};
} //namespace DYNAMIXEL
using namespace DYNAMIXEL;
typedef struct ModelDependencyFuncItemAndRangeInfo{
uint8_t func_idx; //enum Functions
uint8_t item_idx; //enum ControlTableItem
uint8_t unit_type; //enum ParamUnit
int32_t min_value;
int32_t max_value;
float unit_value;
} ModelDependencyFuncItemAndRangeInfo_t;
typedef struct ItemAndRangeInfo{
uint8_t item_idx; //enum ControlTableItem
uint8_t unit_type; //enum ParamUnit
int32_t min_value;
int32_t max_value;
float unit_value;
} ItemAndRangeInfo_t;
static ItemAndRangeInfo_t getModelDependencyFuncInfo(uint16_t model_num, uint8_t func_num);
static float f_map(float x, float in_min, float in_max, float out_min, float out_max);
static bool checkAndconvertWriteData(float in_data, int32_t &out_data, uint8_t unit, ItemAndRangeInfo_t &item_info);
static bool checkAndconvertReadData(int32_t in_data, float &out_data, uint8_t unit, ItemAndRangeInfo_t &item_info);
Dynamixel2Arduino::Dynamixel2Arduino(uint16_t packet_buf_size)
: Master(2.0, packet_buf_size), model_number_idx_last_index_(0)
{
memset(&model_number_idx_, 0xff, sizeof(model_number_idx_));
}
Dynamixel2Arduino::Dynamixel2Arduino(HardwareSerial& port, int dir_pin, uint16_t packet_buf_size)
: Master(2.0, packet_buf_size), model_number_idx_last_index_(0)
{
p_dxl_port_ = new SerialPortHandler(port, dir_pin);
setPort(p_dxl_port_);
memset(&model_number_idx_, 0xff, sizeof(model_number_idx_));
}
/* For Master configuration */
void Dynamixel2Arduino::begin(unsigned long baud)
{
p_dxl_port_ = (SerialPortHandler*)getPort();
if(p_dxl_port_ == nullptr){
setLastLibErrCode(D2A_LIB_ERROR_NULLPTR_PORT_HANDLER);
return;
}
p_dxl_port_->begin(baud);
}
unsigned long Dynamixel2Arduino::getPortBaud()
{
p_dxl_port_ = (SerialPortHandler*)getPort();
if(p_dxl_port_ == nullptr){
setLastLibErrCode(D2A_LIB_ERROR_NULLPTR_PORT_HANDLER);
return 0;
}
return p_dxl_port_->getBaud();
}
bool Dynamixel2Arduino::scan()
{
bool ret = true;
ret = ping();
return ret;
}
bool Dynamixel2Arduino::ping(uint8_t id)
{
bool ret = false;
if (id != DXL_BROADCAST_ID){
InfoFromPing_t recv_info;
if(Master::ping(id, &recv_info, 1, 10) > 0){
if(recv_info.id == id){
if(getPortProtocolVersion() == 1.0){
recv_info.model_number = getModelNumber(id);
}
ret = setModelNumber(id, recv_info.model_number);
}
}
}else{
uint8_t recv_ids[254];
uint8_t recv_cnt;
recv_cnt = Master::ping(DXL_BROADCAST_ID, recv_ids, sizeof(recv_ids), 3*253);
if(recv_cnt > 0){
for (uint8_t i=0; i<recv_cnt; i++){
(void)setModelNumber(recv_ids[i], getModelNumber(id));
}
ret = true;
}
}
return ret;
}
bool
Dynamixel2Arduino::setModelNumber(uint8_t id, uint16_t model_number)
{
bool ret = false;
if(id <= 253){
model_number_idx_[id] = getModelNumberIndex(model_number);
ret = (model_number_idx_[id] != 0xFF) ? true:false;
if(ret == false){
setLastLibErrCode(D2A_LIB_ERROR_UNKNOWN_MODEL_NUMBER);
}
}else{
setLastLibErrCode(DXL_LIB_ERROR_INVAILD_ID);
}
return ret;
}
uint16_t Dynamixel2Arduino::getModelNumber(uint8_t id)
{
uint16_t model_num = 0xFFFF;
(void) read(id, COMMON_MODEL_NUMBER_ADDR, COMMON_MODEL_NUMBER_ADDR_LENGTH,
(uint8_t*)&model_num, sizeof(model_num), 20);
return model_num;
}
bool Dynamixel2Arduino::setID(uint8_t id, uint8_t new_id)
{
return writeControlTableItem(ControlTableItem::ID, id, new_id);
}
bool Dynamixel2Arduino::setDirectionToNormal(uint8_t id){
return writeControlTableItem(ControlTableItem::DRIVE_MODE, id, 0x80);
}
bool Dynamixel2Arduino::setDirectionToReverse(uint8_t id){
return writeControlTableItem(ControlTableItem::DRIVE_MODE, id, 0x81);
}
bool Dynamixel2Arduino::setDirection(uint8_t id, bool dir){
bool ret = false;
if(dir){
ret = setDirectionToNormal(id);
}else{
ret = setDirectionToReverse(id);
}
return ret;
}
bool Dynamixel2Arduino::setProtocol(uint8_t id, float version)
{
uint8_t ver_idx;
if(version == 1.0){
ver_idx = 1;
}else if(version == 2.0){
ver_idx = 2;
}else{
setLastLibErrCode(DXL_LIB_ERROR_INVAILD_PROTOCOL_VERSION);
return false;
}
return writeControlTableItem(ControlTableItem::PROTOCOL_VERSION, id, ver_idx);
}
//TODO: Simplify the code by grouping model numbers.
bool Dynamixel2Arduino::setBaudrate(uint8_t id, uint32_t baudrate)
{
uint16_t model_num = getModelNumberFromTable(id);
uint8_t baud_idx = 0;
switch(model_num)
{
case AX12A:
case AX12W:
case AX18A:
case DX113:
case DX116:
case DX117:
case RX10:
case RX24F:
case RX28:
case RX64:
case EX106:
case MX12W:
case MX28:
case MX64:
case MX106:
// baud_idx = round(2000000.0/(float)baudrate) - 1;
// if(baud_idx > 254)
// return false;
switch(baudrate)
{
case 9600:
baud_idx = 207;
break;
case 57600:
baud_idx = 34;
break;
case 115200:
baud_idx = 16;
break;
case 1000000:
baud_idx = 1;
break;
default:
return false;
}
break;
case XL320:
switch(baudrate)
{
case 9600:
baud_idx = 0;
break;
case 57600:
baud_idx = 1;
break;
case 115200:
baud_idx = 2;
break;
case 1000000:
baud_idx = 3;
break;
default:
return false;
}
break;
case XC330_M288:
case XC330_M181:
case XC330_T288:
case XC330_T181:
case XL330_M288:
case XL330_M077:
switch(baudrate)
{
case 9600:
baud_idx = 0;
break;
case 57600:
baud_idx = 1;
break;
case 115200:
baud_idx = 2;
break;
case 1000000:
baud_idx = 3;
break;
case 2000000:
baud_idx = 4;
break;
case 3000000:
baud_idx = 5;
break;
case 4000000:
baud_idx = 6;
break;
default:
return false;
}
break;
case MX28_2:
case MX64_2:
case MX106_2:
case XC430_W150:
case XC430_W240:
case XXC430_W250:
case XL430_W250:
case XXL430_W250:
case XM430_W210:
case XM430_W350:
case XH430_V210:
case XH430_V350:
case XH430_W210:
case XH430_W350:
case XD430_T210:
case XD430_T350:
case XM540_W150:
case XM540_W270:
case XH540_W150:
case XH540_W270:
case XH540_V150:
case XH540_V270:
case XD540_T150:
case XD540_T270:
case XW430_T200:
case XW430_T333:
case XW540_T140:
case XW540_T260:
switch(baudrate)
{
case 9600:
baud_idx = 0;
break;
case 57600:
baud_idx = 1;
break;
case 115200:
baud_idx = 2;
break;
case 1000000:
baud_idx = 3;
break;
case 2000000:
baud_idx = 4;
break;
case 3000000:
baud_idx = 5;
break;
case 4000000:
baud_idx = 6;
break;
case 4500000:
baud_idx = 7;
break;
default:
return false;
}
break;
// case PRO_L42_10_S300_R:
// case PRO_L54_30_S400_R:
// case PRO_L54_30_S500_R:
// case PRO_L54_50_S290_R:
// case PRO_L54_50_S500_R:
case PRO_M42_10_S260_R:
case PRO_M54_40_S250_R:
case PRO_M54_60_S250_R:
case PRO_H42_20_S300_R:
case PRO_H54_100_S500_R:
case PRO_H54_200_S500_R:
switch(baudrate)
{
case 9600:
baud_idx = 0;
break;
case 57600:
baud_idx = 1;
break;
case 115200:
baud_idx = 2;
break;
case 1000000:
baud_idx = 3;
break;
case 2000000:
baud_idx = 4;
break;
case 3000000:
baud_idx = 5;
break;
case 4000000:
baud_idx = 6;
break;
case 4500000:
baud_idx = 7;
break;
case 10500000:
baud_idx = 8;
break;
default:
return false;
}
break;
case PRO_M42_10_S260_RA:
case PRO_M54_40_S250_RA:
case PRO_M54_60_S250_RA:
case PRO_H42_20_S300_RA:
case PRO_H54_100_S500_RA:
case PRO_H54_200_S500_RA:
case PRO_H42P_020_S300_R:
case PRO_H54P_100_S500_R:
case PRO_H54P_200_S500_R:
case PRO_M42P_010_S260_R:
case PRO_M54P_040_S250_R:
case PRO_M54P_060_S250_R:
switch(baudrate)
{
case 9600:
baud_idx = 0;
break;
case 57600:
baud_idx = 1;
break;
case 115200:
baud_idx = 2;
break;
case 1000000:
baud_idx = 3;
break;
case 2000000:
baud_idx = 4;
break;
case 3000000:
baud_idx = 5;
break;
case 4000000:
baud_idx = 6;
break;
case 4500000:
baud_idx = 7;
break;
case 6000000:
baud_idx = 8;
break;
case 10500000:
baud_idx = 9;
break;
default:
return false;
}
break;
default:
return false;
break;
}
return writeControlTableItem(ControlTableItem::BAUD_RATE, id, baud_idx);
}
/* Commands for Slave */
bool Dynamixel2Arduino::torqueOn(uint8_t id)
{
return setTorqueEnable(id, true);
}
bool Dynamixel2Arduino::torqueOff(uint8_t id)
{
return setTorqueEnable(id, false);
}
bool Dynamixel2Arduino::setTorqueEnable(uint8_t id, bool enable)
{
return writeControlTableItem(ControlTableItem::TORQUE_ENABLE, id, enable);
}
bool Dynamixel2Arduino::ledOn(uint8_t id)
{
return setLedState(id, true);
}
bool Dynamixel2Arduino::ledOff(uint8_t id)
{
return setLedState(id, false);
}
bool Dynamixel2Arduino::setLedState(uint8_t id, bool state)
{
bool ret = false;
uint16_t model_num = getModelNumberFromTable(id);
switch(model_num)
{
// case PRO_L42_10_S300_R:
// case PRO_L54_30_S400_R:
// case PRO_L54_30_S500_R:
// case PRO_L54_50_S290_R:
// case PRO_L54_50_S500_R:
case PRO_M42_10_S260_R:
case PRO_M54_40_S250_R:
case PRO_M54_60_S250_R:
case PRO_H42_20_S300_R:
case PRO_H54_100_S500_R:
case PRO_H54_200_S500_R:
case PRO_M42_10_S260_RA:
case PRO_M54_40_S250_RA:
case PRO_M54_60_S250_RA:
case PRO_H42_20_S300_RA:
case PRO_H54_100_S500_RA:
case PRO_H54_200_S500_RA:
case PRO_H42P_020_S300_R:
case PRO_H54P_100_S500_R:
case PRO_H54P_200_S500_R:
case PRO_M42P_010_S260_R:
case PRO_M54P_040_S250_R:
case PRO_M54P_060_S250_R:
if (state == false) {
writeControlTableItem(ControlTableItem::LED_GREEN, id, state);
writeControlTableItem(ControlTableItem::LED_BLUE, id, state);
}
ret = writeControlTableItem(ControlTableItem::LED_RED, id, state);
break;
default:
ret = writeControlTableItem(ControlTableItem::LED, id, state);
break;
}
return ret;
}
//TODO: Simplify the code by grouping model numbers.
bool Dynamixel2Arduino::setOperatingMode(uint8_t id, uint8_t mode)
{
bool ret = false;
uint16_t model_num = getModelNumberFromTable(id);
switch(model_num)
{
case AX12A:
case AX12W:
case AX18A:
case DX113:
case DX116:
case DX117:
case RX10:
case RX24F:
case RX28:
case RX64:
if(mode == OP_POSITION){
if(writeControlTableItem(ControlTableItem::CW_ANGLE_LIMIT, id, 0))
ret = writeControlTableItem(ControlTableItem::CCW_ANGLE_LIMIT, id, 1023);
}else if(mode == OP_VELOCITY){
if(writeControlTableItem(ControlTableItem::CW_ANGLE_LIMIT, id, 0))
ret = writeControlTableItem(ControlTableItem::CCW_ANGLE_LIMIT, id, 0);
}
break;
case EX106:
if(mode == OP_POSITION){
if(writeControlTableItem(ControlTableItem::CW_ANGLE_LIMIT, id, 0))
ret = writeControlTableItem(ControlTableItem::CCW_ANGLE_LIMIT, id, 4095);
}else if(mode == OP_VELOCITY){
if(writeControlTableItem(ControlTableItem::CW_ANGLE_LIMIT, id, 0))
ret = writeControlTableItem(ControlTableItem::CCW_ANGLE_LIMIT, id, 0);
}
break;
case XL320:
if(mode == OP_POSITION){
ret = writeControlTableItem(ControlTableItem::CONTROL_MODE, id, 2);
}else if(mode == OP_VELOCITY){
ret = writeControlTableItem(ControlTableItem::CONTROL_MODE, id, 1);
}
break;
case MX12W:
case MX28:
if(mode == OP_POSITION){
if(writeControlTableItem(ControlTableItem::CW_ANGLE_LIMIT, id, 0))
ret = writeControlTableItem(ControlTableItem::CCW_ANGLE_LIMIT, id, 4095);
}else if(mode == OP_VELOCITY){
if(writeControlTableItem(ControlTableItem::CW_ANGLE_LIMIT, id, 0))
ret = writeControlTableItem(ControlTableItem::CCW_ANGLE_LIMIT, id, 0);
}else if(mode == OP_EXTENDED_POSITION){
if(writeControlTableItem(ControlTableItem::CW_ANGLE_LIMIT, id, 4095))
ret = writeControlTableItem(ControlTableItem::CCW_ANGLE_LIMIT, id, 4095);
}
break;
case MX64:
case MX106:
if(mode == OP_POSITION){
if(writeControlTableItem(ControlTableItem::TORQUE_CTRL_MODE_ENABLE, id, 0)
|| writeControlTableItem(ControlTableItem::CW_ANGLE_LIMIT, id, 0))
ret = writeControlTableItem(ControlTableItem::CCW_ANGLE_LIMIT, id, 4095);
}else if(mode == OP_VELOCITY){
if(writeControlTableItem(ControlTableItem::TORQUE_CTRL_MODE_ENABLE, id, 0)
|| writeControlTableItem(ControlTableItem::CW_ANGLE_LIMIT, id, 0))
ret = writeControlTableItem(ControlTableItem::CCW_ANGLE_LIMIT, id, 0);
}else if(mode == OP_EXTENDED_POSITION){
if(writeControlTableItem(ControlTableItem::TORQUE_CTRL_MODE_ENABLE, id, 0)
|| writeControlTableItem(ControlTableItem::CW_ANGLE_LIMIT, id, 4095))
ret = writeControlTableItem(ControlTableItem::CCW_ANGLE_LIMIT, id, 4095);
}else if(mode == OP_CURRENT){
ret = writeControlTableItem(ControlTableItem::TORQUE_CTRL_MODE_ENABLE, id, 1);
}
break;
case MX28_2:
case XC430_W150:
case XC430_W240:
case XXC430_W250:
case XL430_W250:
case XXL430_W250:
if(mode == OP_POSITION){
ret = writeControlTableItem(ControlTableItem::OPERATING_MODE, id, 3);
}else if(mode == OP_VELOCITY){
ret = writeControlTableItem(ControlTableItem::OPERATING_MODE, id, 1);
}else if(mode == OP_EXTENDED_POSITION){
ret = writeControlTableItem(ControlTableItem::OPERATING_MODE, id, 4);
}else if(mode == OP_PWM){
ret = writeControlTableItem(ControlTableItem::OPERATING_MODE, id, 16);
}
break;
case MX64_2:
case MX106_2:
case XL330_M288:
case XL330_M077:
case XC330_M288:
case XC330_M181:
case XC330_T181:
case XC330_T288:
case XM430_W210:
case XM430_W350:
case XH430_V210:
case XH430_V350:
case XH430_W210:
case XH430_W350:
case XD430_T210:
case XD430_T350:
case XM540_W150:
case XM540_W270:
case XH540_W150:
case XH540_W270:
case XH540_V150:
case XH540_V270:
case XD540_T150:
case XD540_T270:
case XW430_T200:
case XW430_T333:
case XW540_T140:
case XW540_T260:
if(mode == OP_POSITION){
ret = writeControlTableItem(ControlTableItem::OPERATING_MODE, id, 3);
}else if(mode == OP_VELOCITY){
ret = writeControlTableItem(ControlTableItem::OPERATING_MODE, id, 1);
}else if(mode == OP_EXTENDED_POSITION){
ret = writeControlTableItem(ControlTableItem::OPERATING_MODE, id, 4);
}else if(mode == OP_CURRENT){
ret = writeControlTableItem(ControlTableItem::OPERATING_MODE, id, 0);
}else if(mode == OP_PWM){
ret = writeControlTableItem(ControlTableItem::OPERATING_MODE, id, 16);
}else if(mode == OP_CURRENT_BASED_POSITION){
ret = writeControlTableItem(ControlTableItem::OPERATING_MODE, id, 5);
}
break;
// case PRO_L42_10_S300_R:
// case PRO_L54_30_S400_R:
// case PRO_L54_30_S500_R:
// case PRO_L54_50_S290_R:
// case PRO_L54_50_S500_R:
case PRO_M42_10_S260_R:
case PRO_M54_40_S250_R:
case PRO_M54_60_S250_R:
case PRO_H42_20_S300_R:
case PRO_H54_100_S500_R:
case PRO_H54_200_S500_R:
if(mode == OP_POSITION){
ret = writeControlTableItem(ControlTableItem::OPERATING_MODE, id, 3);
}else if(mode == OP_VELOCITY){
ret = writeControlTableItem(ControlTableItem::OPERATING_MODE, id, 1);
}else if(mode == OP_EXTENDED_POSITION){
ret = writeControlTableItem(ControlTableItem::OPERATING_MODE, id, 4);
}else if(mode == OP_CURRENT){
ret = writeControlTableItem(ControlTableItem::OPERATING_MODE, id, 0);
}
break;
case PRO_M42_10_S260_RA:
case PRO_M54_40_S250_RA:
case PRO_M54_60_S250_RA:
case PRO_H42_20_S300_RA:
case PRO_H54_100_S500_RA:
case PRO_H54_200_S500_RA:
case PRO_H42P_020_S300_R:
case PRO_H54P_100_S500_R:
case PRO_H54P_200_S500_R:
case PRO_M42P_010_S260_R:
case PRO_M54P_040_S250_R:
case PRO_M54P_060_S250_R:
if(mode == OP_POSITION){
ret = writeControlTableItem(ControlTableItem::OPERATING_MODE, id, 3);
}else if(mode == OP_VELOCITY){
ret = writeControlTableItem(ControlTableItem::OPERATING_MODE, id, 1);
}else if(mode == OP_EXTENDED_POSITION){
ret = writeControlTableItem(ControlTableItem::OPERATING_MODE, id, 4);
}else if(mode == OP_CURRENT){
ret = writeControlTableItem(ControlTableItem::OPERATING_MODE, id, 0);
}else if(mode == OP_PWM){
ret = writeControlTableItem(ControlTableItem::OPERATING_MODE, id, 16);
}
break;
default:
break;
}
return ret;
}
bool Dynamixel2Arduino::setGoalPosition(uint8_t id, float value, uint8_t unit)
{
if(unit != UNIT_RAW && unit != UNIT_DEGREE)
return false;
return writeForRangeDependencyFunc(SET_POSITION, id, value, unit);
}
float Dynamixel2Arduino::getPresentPosition(uint8_t id, uint8_t unit)
{
if(unit != UNIT_RAW && unit != UNIT_DEGREE)
return 0.0;
return readForRangeDependencyFunc(GET_POSITION, id, unit);
}
bool Dynamixel2Arduino::setGoalVelocity(uint8_t id, float value, uint8_t unit)
{
if(unit != UNIT_RAW && unit != UNIT_PERCENT && unit != UNIT_RPM)
return false;
return writeForRangeDependencyFunc(SET_VELOCITY, id, value, unit);
}
float Dynamixel2Arduino::getPresentVelocity(uint8_t id, uint8_t unit)
{
if(unit != UNIT_RAW && unit != UNIT_PERCENT && unit != UNIT_RPM)
return 0.0;
return readForRangeDependencyFunc(GET_VELOCITY, id, unit);
}
bool Dynamixel2Arduino::setGoalPWM(uint8_t id, float value, uint8_t unit)
{
if(unit != UNIT_RAW && unit != UNIT_PERCENT)
return false;
return writeForRangeDependencyFunc(SET_PWM, id, value, unit);
}
float Dynamixel2Arduino::getPresentPWM(uint8_t id, uint8_t unit)
{
if(unit != UNIT_RAW && unit != UNIT_PERCENT)
return 0.0;
return readForRangeDependencyFunc(GET_PWM, id, unit);
}
bool Dynamixel2Arduino::setGoalCurrent(uint8_t id, float value, uint8_t unit)
{
if(unit != UNIT_RAW && unit != UNIT_PERCENT && unit != UNIT_MILLI_AMPERE)
return false;
return writeForRangeDependencyFunc(SET_CURRENT, id, value, unit);
}
float Dynamixel2Arduino::getPresentCurrent(uint8_t id, uint8_t unit)
{
if(unit != UNIT_RAW && unit != UNIT_PERCENT && unit != UNIT_MILLI_AMPERE)
return 0.0;
return readForRangeDependencyFunc(GET_CURRENT, id, unit);
}
bool Dynamixel2Arduino::getTorqueEnableStat(uint8_t id)
{
bool ret = false;
if(readControlTableItem(ControlTableItem::TORQUE_ENABLE, id) == DXL_TORQUE_ON){
ret = true;
}else{
ret = false;
}
return ret;
}
int32_t Dynamixel2Arduino::readControlTableItem(uint8_t item_idx, uint8_t id, uint32_t timeout)
{
int32_t ret = 0;
uint16_t model_num = getModelNumberFromTable(id);
// To use the command function without ping() or model addition.
if(model_num == UNREGISTERED_MODEL){
if(setModelNumber(id, getModelNumber(id)) == true){
model_num = getModelNumberFromTable(id);
}
}
if(model_num != UNREGISTERED_MODEL){
ret = readControlTableItem(model_num, item_idx, id, timeout);
}else{
setLastLibErrCode(D2A_LIB_ERROR_UNKNOWN_MODEL_NUMBER);
}
return ret;
}
bool Dynamixel2Arduino::writeControlTableItem(uint8_t item_idx, uint8_t id, int32_t data, uint32_t timeout)
{
bool ret = false;
uint16_t model_num = getModelNumberFromTable(id);
// To use the command function without ping() or model addition.
if(model_num == UNREGISTERED_MODEL){
if(setModelNumber(id, getModelNumber(id)) == true){
model_num = getModelNumberFromTable(id);
}
}
if(model_num != UNREGISTERED_MODEL){
ret = writeControlTableItem(model_num, item_idx, id, data, timeout);
}else{
setLastLibErrCode(D2A_LIB_ERROR_UNKNOWN_MODEL_NUMBER);
}
return ret;
}
uint8_t Dynamixel2Arduino::getHardwareError(uint8_t id)
{
int32_t ret = readControlTableItem(ControlTableItem::HARDWARE_ERROR_STATUS, id);
return (uint8_t)ret;
}
/* Private Member Function */
int32_t Dynamixel2Arduino::readControlTableItem(uint16_t model_num, uint8_t item_idx, uint8_t id, uint32_t timeout)
{
int32_t recv_len, ret = 0;
ControlTableItemInfo_t item_info;
p_dxl_port_ = (SerialPortHandler*)getPort();
if(p_dxl_port_ == nullptr){
setLastLibErrCode(D2A_LIB_ERROR_NULLPTR_PORT_HANDLER);
return 0;
}
item_info = getControlTableItemInfo(model_num, item_idx);
if(item_info.addr_length > 0)
{
recv_len = read(id, item_info.addr, item_info.addr_length, (uint8_t*)&ret, sizeof(ret), timeout);
if(recv_len == 1){
int8_t t_data = (int8_t)ret;
ret = (int32_t)t_data;
}else if(recv_len == 2){
int16_t t_data = (int16_t)ret;
ret = (int32_t)t_data;
}
}
return ret;
}
bool Dynamixel2Arduino::writeControlTableItem(uint16_t model_num, uint8_t item_idx, uint8_t id, int32_t data, uint32_t timeout)
{
bool ret = false;
ControlTableItemInfo_t item_info;
p_dxl_port_ = (SerialPortHandler*)getPort();
if(p_dxl_port_ == nullptr){
setLastLibErrCode(D2A_LIB_ERROR_NULLPTR_PORT_HANDLER);
return false;
}
item_info = getControlTableItemInfo(model_num, item_idx);
if(item_info.addr_length > 0){
ret = write(id, item_info.addr, (uint8_t*)&data, item_info.addr_length, timeout);
}
return ret;
}
uint8_t
Dynamixel2Arduino::getModelNumberIndex(uint16_t model_num)
{
uint8_t i, ret = 0xFF;
// quick shortcut
if(model_num == model_number_idx_[model_number_idx_last_index_]){
ret = model_number_idx_last_index_;
}else{
for(i=0; i<model_number_table_count; i++)
{
if(model_num == pgm_read_word(&model_number_table[i])){
model_number_idx_last_index_ = i;
ret = i;
break;
}
}
}
return ret;
}
uint16_t Dynamixel2Arduino::getModelNumberFromTable(uint8_t id)
{
uint8_t idx;
uint16_t model_num;
if(id > 254){
setLastLibErrCode(DXL_LIB_ERROR_INVAILD_ID);
return UNREGISTERED_MODEL;
}