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Add api #126

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ce121c6
add api getHardwareError
yujiro-miyabayashi Jul 21, 2023
738cb8c
add api setDirection for Drive Move
yujiro-miyabayashi Jul 21, 2023
8c3b5e1
add trque on flag
yujiro-miyabayashi Aug 4, 2023
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26 changes: 26 additions & 0 deletions src/Dynamixel2Arduino.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -225,6 +225,27 @@ 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;
Expand Down Expand Up @@ -886,7 +907,12 @@ bool Dynamixel2Arduino::writeControlTableItem(uint8_t item_idx, uint8_t id, int3
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 */
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7 changes: 3 additions & 4 deletions src/Dynamixel2Arduino.h
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Original file line number Diff line number Diff line change
Expand Up @@ -425,12 +425,13 @@ class Dynamixel2Arduino : public DYNAMIXEL::Master
bool writeControlTableItem(uint8_t item_idx,
uint8_t id, int32_t data, uint32_t timeout = 100);


#if 0 //TODO
uint8_t getHardwareError(uint8_t id);
bool setDirectionToNormal(uint8_t id);
bool setDirectionToReverse(uint8_t id);
bool setDirection(uint8_t id, bool dir);

#if 0 //TODO

bool setProfileBase(uint8_t id, uint8_t base);
bool setProfileToVelocityBased(uint8_t id);
bool setProfileToTimeBased(uint8_t id);
Expand All @@ -441,8 +442,6 @@ class Dynamixel2Arduino : public DYNAMIXEL::Master
bool setPositionPIDGain(uint8_t id, uint16_t p_gain, uint16_t i_gain, uint16_t d_gain);
bool setVelocityPIGain(uint8_t id, uint16_t p_gain, uint16_t i_gain);
bool setFeedForwardGain(uint8_t id, uint16_t fisrt_gain, uint16_t second_gain);

uint8_t getHardwareError(uint8_t id);

// https://github.com/ROBOTIS-GIT/Dynamixel2Arduino/issues/73
uint8_t getOperatingMode(uint8_t id);
Expand Down