Fawkes API Fawkes Development Version
servo_chain.h
1
2/***************************************************************************
3 * servo_chain.h - Class for accessing Robotis dynamixel servos
4 *
5 * Created: Mon Mar 23 20:42:42 2015 (based on pantilt plugin)
6 * Copyright 2005-2015 Tim Niemueller [www.niemueller.de]
7 ****************************************************************************/
8
9/* This program is free software; you can redistribute it and/or modify
10 * it under the terms of the GNU General Public License as published by
11 * the Free Software Foundation; either version 2 of the License, or
12 * (at your option) any later version. A runtime exception applies to
13 * this software (see LICENSE.GPL_WRE file mentioned below for details).
14 *
15 * This program is distributed in the hope that it will be useful,
16 * but WITHOUT ANY WARRANTY; without even the implied warranty of
17 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18 * GNU Library General Public License for more details.
19 *
20 * Read the full text in the LICENSE.GPL_WRE file in the doc directory.
21 */
22
23#ifndef _PLUGINS_DYNAMIXEL_SERVO_CHAIN_H_
24#define _PLUGINS_DYNAMIXEL_SERVO_CHAIN_H_
25
26#include <core/exception.h>
27
28#include <cstddef>
29#include <cstdio>
30#include <list>
31#include <vector>
32
33#define DYNAMIXEL_CONTROL_TABLE_LENGTH 0x32
34#define DYNAMIXEL_MAX_NUM_SERVOS 254
35
37{
38public:
39 /** List of servo IDs. */
40 typedef std::list<unsigned char> DeviceList;
41
42 DynamixelChain(const char * device_file,
43 unsigned int default_timeout_ms = 30,
44 bool enable_echo_fix = false,
45 bool enable_connection_stability = false,
46 float min_voltage = 12.0,
47 float max_voltage = 16.0);
49
50 void open();
51 void close();
52
53 bool ping(unsigned char id, unsigned int timeout_ms = 100);
54 DeviceList discover(unsigned int total_timeout_ms = 50,
55 const std::vector<unsigned int> &servos = std::vector<unsigned int>());
56
57 void write_table_value(unsigned char id,
58 unsigned char addr,
59 unsigned int value,
60 bool double_byte = false);
61 void write_table_values(unsigned char id,
62 unsigned char start_addr,
63 unsigned char *values,
64 unsigned int num_values);
65 void read_table_values(unsigned char id);
66 void read_table_value(unsigned char id, unsigned char addr, unsigned char read_length);
67 void start_read_table_values(unsigned char id);
69
70 void goto_position(unsigned char id, unsigned int value);
71 void goto_positions(unsigned int num_positions, ...);
72
73 const char * get_model(unsigned char id, bool refresh = false);
74 unsigned int get_model_number(unsigned char id, bool refresh = false);
75 unsigned int get_position(unsigned char id, bool refresh = false);
76 unsigned char get_firmware_version(unsigned char id, bool refresh = false);
77 unsigned char get_baudrate(unsigned char id, bool refresh = false);
78 unsigned char get_delay_time(unsigned char id, bool refresh = false);
79 unsigned char get_error(unsigned char id);
80 void get_angle_limits(unsigned char id,
81 unsigned int &cw_limit,
82 unsigned int &ccw_limit,
83 bool refresh = false);
84 unsigned char get_temperature_limit(unsigned char id, bool refresh = false);
85 void get_voltage_limits(unsigned char id,
86 unsigned char &low,
87 unsigned char &high,
88 bool refresh = false);
89 unsigned int get_max_torque(unsigned char id, bool refresh = false);
90 unsigned char get_status_return_level(unsigned char id, bool refresh = false);
91 unsigned char get_alarm_led(unsigned char id, bool refresh = false);
92 unsigned char get_alarm_shutdown(unsigned char id, bool refresh = false);
93 void get_calibration(unsigned char id,
94 unsigned int &down_calib,
95 unsigned int &up_calib,
96 bool refresh = false);
97 bool is_torque_enabled(unsigned char id, bool refresh = false);
98 bool is_led_enabled(unsigned char id, bool refresh = false);
99 void get_compliance_values(unsigned char id,
100 unsigned char &cw_margin,
101 unsigned char &cw_slope,
102 unsigned char &ccw_margin,
103 unsigned char &ccw_slope,
104 bool refresh = false);
105 unsigned int get_goal_position(unsigned char id, bool refresh = false);
106 unsigned int get_goal_speed(unsigned char id, bool refresh = false);
107 float get_max_supported_speed(unsigned char id, bool refresh = false);
108 unsigned int get_torque_limit(unsigned char id, bool refresh = false);
109 unsigned int get_speed(unsigned char id, bool refresh = false);
110 unsigned int get_load(unsigned char id, bool refresh = false);
111 unsigned char get_voltage(unsigned char id, bool refresh = false);
112 unsigned char get_temperature(unsigned char id, bool refresh = false);
113 bool is_moving(unsigned char id, bool refresh = false);
114 bool is_locked(unsigned char id, bool refresh = false);
115 unsigned int get_punch(unsigned char id, bool refresh = false);
116
117 void set_id(unsigned char id, unsigned char new_id);
118 void set_baudrate(unsigned char id, unsigned char baudrate);
119 void set_return_delay_time(unsigned char id, unsigned char return_delay_time);
120 void set_angle_limits(unsigned char id, unsigned int cw_limit, unsigned int ccw_limit);
121 void set_temperature_limit(unsigned char id, unsigned char temp_limit);
122 void set_voltage_limits(unsigned char id, unsigned char low, unsigned char high);
123 void set_max_torque(unsigned char id, unsigned int max_torque);
124 void set_status_return_level(unsigned char id, unsigned char status_return_level);
125 void set_alarm_led(unsigned char id, unsigned char alarm_led);
126 void set_alarm_shutdown(unsigned char id, unsigned char alarm_shutdown);
127 void set_torque_enabled(unsigned char id, bool enabled);
128 void set_torques_enabled(bool enabled, unsigned int num_servos, ...);
129 void set_led_enabled(unsigned char id, bool enabled);
130 void set_compliance_values(unsigned char id,
131 unsigned char cw_margin,
132 unsigned char cw_slope,
133 unsigned char ccw_margin,
134 unsigned char ccw_slope);
135 void set_goal_speed(unsigned char id, unsigned int goal_speed);
136 void set_goal_speeds(unsigned int num_servos, ...);
137 void set_torque_limit(unsigned char id, unsigned int torque_limit);
138 void lock_config(unsigned char id);
139 void set_punch(unsigned char id, unsigned int punch);
140
141 bool data_available();
142
143 // Status return level
144 static const unsigned char SRL_RESPOND_NONE;
145 static const unsigned char SRL_RESPOND_READ;
146 static const unsigned char SRL_RESPOND_ALL;
147
148 static const unsigned char BROADCAST_ID;
149 static const unsigned int MAX_POSITION;
150 static const unsigned int CENTER_POSITION;
151 static const float MAX_ANGLE_DEG;
152 static const float MAX_ANGLE_RAD;
153 static const float RAD_PER_POS_TICK;
154 static const float POS_TICKS_PER_RAD;
155 static const float SEC_PER_60DEG_12V;
156 static const float SEC_PER_60DEG_16V;
157 static const unsigned int MAX_SPEED;
158
159 // Parameter entry offsets
160 static const unsigned char P_MODEL_NUMBER_L;
161 static const unsigned char P_MODEL_NUMBER_H;
162 static const unsigned char P_VERSION;
163 static const unsigned char P_ID;
164 static const unsigned char P_BAUD_RATE;
165 static const unsigned char P_RETURN_DELAY_TIME;
166 static const unsigned char P_CW_ANGLE_LIMIT_L;
167 static const unsigned char P_CW_ANGLE_LIMIT_H;
168 static const unsigned char P_CCW_ANGLE_LIMIT_L;
169 static const unsigned char P_CCW_ANGLE_LIMIT_H;
170 static const unsigned char P_SYSTEM_DATA2;
171 static const unsigned char P_LIMIT_TEMPERATURE;
172 static const unsigned char P_DOWN_LIMIT_VOLTAGE;
173 static const unsigned char P_UP_LIMIT_VOLTAGE;
174 static const unsigned char P_MAX_TORQUE_L;
175 static const unsigned char P_MAX_TORQUE_H;
176 static const unsigned char P_RETURN_LEVEL;
177 static const unsigned char P_ALARM_LED;
178 static const unsigned char P_ALARM_SHUTDOWN;
179 static const unsigned char P_OPERATING_MODE;
180 static const unsigned char P_DOWN_CALIBRATION_L;
181 static const unsigned char P_DOWN_CALIBRATION_H;
182 static const unsigned char P_UP_CALIBRATION_L;
183 static const unsigned char P_UP_CALIBRATION_H;
184
185 static const unsigned char P_TORQUE_ENABLE;
186 static const unsigned char P_LED;
187 static const unsigned char P_CW_COMPLIANCE_MARGIN;
188 static const unsigned char P_CCW_COMPLIANCE_MARGIN;
189 static const unsigned char P_CW_COMPLIANCE_SLOPE;
190 static const unsigned char P_CCW_COMPLIANCE_SLOPE;
191 static const unsigned char P_GOAL_POSITION_L;
192 static const unsigned char P_GOAL_POSITION_H;
193 static const unsigned char P_GOAL_SPEED_L;
194 static const unsigned char P_GOAL_SPEED_H;
195 static const unsigned char P_TORQUE_LIMIT_L;
196 static const unsigned char P_TORQUE_LIMIT_H;
197 static const unsigned char P_PRESENT_POSITION_L;
198 static const unsigned char P_PRESENT_POSITION_H;
199 static const unsigned char P_PRESENT_SPEED_L;
200 static const unsigned char P_PRESENT_SPEED_H;
201 static const unsigned char P_PRESENT_LOAD_L;
202 static const unsigned char P_PRESENT_LOAD_H;
203 static const unsigned char P_PRESENT_VOLTAGE;
204 static const unsigned char P_PRESENT_TEMPERATURE;
205 static const unsigned char P_REGISTERED_INSTRUCTION;
206 static const unsigned char P_PAUSE_TIME;
207 static const unsigned char P_MOVING;
208 static const unsigned char P_LOCK;
209 static const unsigned char P_PUNCH_L;
210 static const unsigned char P_PUNCH_H;
211
212private:
213 // Instructions
214 static const unsigned char INST_PING;
215 static const unsigned char INST_READ;
216 static const unsigned char INST_WRITE;
217 static const unsigned char INST_REG_WRITE;
218 static const unsigned char INST_ACTION;
219 static const unsigned char INST_RESET;
220 static const unsigned char INST_DIGITAL_RESET;
221 static const unsigned char INST_SYSTEM_READ;
222 static const unsigned char INST_SYSTEM_WRITE;
223 static const unsigned char INST_SYNC_WRITE;
224 static const unsigned char INST_SYNC_REG_WRITE;
225
226 // Packet offsets
227 static const unsigned char PACKET_OFFSET_ID;
228 static const unsigned char PACKET_OFFSET_LENGTH;
229 static const unsigned char PACKET_OFFSET_INST;
230 static const unsigned char PACKET_OFFSET_PARAM;
231 static const unsigned char PACKET_OFFSET_ERROR;
232
233private:
234 unsigned char calc_checksum(const unsigned char id,
235 const unsigned char instruction,
236 const unsigned char *params,
237 const unsigned char plength);
238 void send(const unsigned char id,
239 const unsigned char instruction,
240 const unsigned char *params,
241 const unsigned char plength);
242 void recv(const unsigned char exp_length, unsigned int timeout_ms = 0xFFFFFFFF);
243 void assert_valid_id(unsigned char id);
244 unsigned int merge_twobyte_value(unsigned int id, unsigned char ind_l, unsigned char ind_h);
245 unsigned int
246 get_value(unsigned int id, bool refresh, unsigned int ind_l, unsigned int ind_h = 0xFFFFFFFF);
247 bool inline responds_read(unsigned int id)
248 {
249 return ((control_table_[id][P_RETURN_LEVEL] == SRL_RESPOND_READ)
250 || (control_table_[id][P_RETURN_LEVEL] == SRL_RESPOND_ALL));
251 }
252
253 bool inline responds_all(unsigned int id)
254 {
255 return (control_table_[id][P_RETURN_LEVEL] == SRL_RESPOND_ALL);
256 }
257
258 int fd_;
259 char * device_file_;
260 unsigned int default_timeout_ms_;
261 bool enable_echo_fix_;
262 bool enable_connection_stability_;
263 float min_voltage_;
264 float max_voltage_;
265
266 unsigned char obuffer_[260];
267 unsigned char ibuffer_[260];
268
269 int obuffer_length_;
270 int ibuffer_length_;
271
272 char control_table_[DYNAMIXEL_MAX_NUM_SERVOS][DYNAMIXEL_CONTROL_TABLE_LENGTH];
273};
274
275#endif
Class to access a chain of Robotis dynamixel servos.
Definition: servo_chain.h:37
void set_punch(unsigned char id, unsigned int punch)
Set punch.
static const unsigned char P_PRESENT_POSITION_H
P_PRESENT_POSITION_H.
Definition: servo_chain.h:198
~DynamixelChain()
Destructor.
static const unsigned char P_DOWN_CALIBRATION_L
P_DOWN_CALIBRATION_L.
Definition: servo_chain.h:180
void close()
Close port.
static const unsigned char P_TORQUE_LIMIT_L
P_TORQUE_LIMIT_L.
Definition: servo_chain.h:195
void set_goal_speed(unsigned char id, unsigned int goal_speed)
Set goal speed.
static const unsigned char P_ID
P_ID.
Definition: servo_chain.h:163
static const float MAX_ANGLE_RAD
MAX_ANGLE_RAD.
Definition: servo_chain.h:152
void set_alarm_shutdown(unsigned char id, unsigned char alarm_shutdown)
Set shutdown on alarm.
static const unsigned char P_ALARM_LED
P_ALARM_LED.
Definition: servo_chain.h:177
static const unsigned char P_PRESENT_LOAD_H
P_PRESENT_LOAD_H.
Definition: servo_chain.h:202
static const unsigned char P_TORQUE_ENABLE
P_TORQUE_ENABLE.
Definition: servo_chain.h:185
static const unsigned char P_CCW_ANGLE_LIMIT_H
P_CCW_ANGLE_LIMIT_H.
Definition: servo_chain.h:169
static const float MAX_ANGLE_DEG
MAX_ANGLE_DEG.
Definition: servo_chain.h:151
void set_angle_limits(unsigned char id, unsigned int cw_limit, unsigned int ccw_limit)
Set angle limits.
unsigned char get_voltage(unsigned char id, bool refresh=false)
Get current voltage.
static const unsigned char P_CCW_COMPLIANCE_SLOPE
P_CCW_COMPLIANCE_SLOPE.
Definition: servo_chain.h:190
std::list< unsigned char > DeviceList
List of servo IDs.
Definition: servo_chain.h:40
static const unsigned char SRL_RESPOND_ALL
SRL_RESPOND_ALL.
Definition: servo_chain.h:146
static const unsigned char P_GOAL_POSITION_L
P_GOAL_POSITION_L.
Definition: servo_chain.h:191
static const unsigned char P_PRESENT_LOAD_L
P_PRESENT_LOAD_L.
Definition: servo_chain.h:201
void set_alarm_led(unsigned char id, unsigned char alarm_led)
Set alarm LED settings.
static const unsigned char SRL_RESPOND_READ
SRL_RESPOND_READ.
Definition: servo_chain.h:145
void read_table_value(unsigned char id, unsigned char addr, unsigned char read_length)
Read a table value.
void set_status_return_level(unsigned char id, unsigned char status_return_level)
Set status return level.
DynamixelChain(const char *device_file, unsigned int default_timeout_ms=30, bool enable_echo_fix=false, bool enable_connection_stability=false, float min_voltage=12.0, float max_voltage=16.0)
Constructor.
void set_compliance_values(unsigned char id, unsigned char cw_margin, unsigned char cw_slope, unsigned char ccw_margin, unsigned char ccw_slope)
Set compliance values.
static const unsigned char P_PRESENT_SPEED_L
P_PRESENT_SPEED_L.
Definition: servo_chain.h:199
static const unsigned char P_CW_COMPLIANCE_SLOPE
P_CW_COMPLIANCE_SLOPE.
Definition: servo_chain.h:189
bool is_led_enabled(unsigned char id, bool refresh=false)
Check if LED is enabled.
unsigned int get_model_number(unsigned char id, bool refresh=false)
Get model.
static const unsigned char P_CCW_ANGLE_LIMIT_L
P_CCW_ANGLE_LIMIT_L.
Definition: servo_chain.h:168
static const unsigned char P_UP_LIMIT_VOLTAGE
P_UP_LIMIT_VOLTAGE.
Definition: servo_chain.h:173
void set_goal_speeds(unsigned int num_servos,...)
Set goal speeds for multiple servos.
static const float SEC_PER_60DEG_12V
SEC_PER_60DEG_12V.
Definition: servo_chain.h:155
static const unsigned char P_CW_COMPLIANCE_MARGIN
P_CW_COMPLIANCE_MARGIN.
Definition: servo_chain.h:187
unsigned int get_goal_speed(unsigned char id, bool refresh=false)
Get goal speed.
DeviceList discover(unsigned int total_timeout_ms=50, const std::vector< unsigned int > &servos=std::vector< unsigned int >())
Discover devices on the bus.
static const unsigned char P_PRESENT_SPEED_H
P_PRESENT_SPEED_H.
Definition: servo_chain.h:200
void get_compliance_values(unsigned char id, unsigned char &cw_margin, unsigned char &cw_slope, unsigned char &ccw_margin, unsigned char &ccw_slope, bool refresh=false)
Get compliance values.
void set_torque_limit(unsigned char id, unsigned int torque_limit)
Set torque limit.
unsigned char get_temperature_limit(unsigned char id, bool refresh=false)
Get temperature limit.
void set_return_delay_time(unsigned char id, unsigned char return_delay_time)
Set return delay time.
unsigned int get_max_torque(unsigned char id, bool refresh=false)
Get maximum torque.
static const unsigned char P_UP_CALIBRATION_L
P_UP_CALIBRATION_L.
Definition: servo_chain.h:182
static const unsigned char P_MODEL_NUMBER_H
P_MODEL_NUMBER_H.
Definition: servo_chain.h:161
static const unsigned char P_PAUSE_TIME
P_PAUSE_TIME.
Definition: servo_chain.h:206
static const unsigned char P_LIMIT_TEMPERATURE
P_LIMIT_TEMPERATURE.
Definition: servo_chain.h:171
void read_table_values(unsigned char id)
Read all table values for given servo.
static const unsigned char P_DOWN_LIMIT_VOLTAGE
P_DOWN_LIMIT_VOLTAGE.
Definition: servo_chain.h:172
static const float SEC_PER_60DEG_16V
SEC_PER_60DEG_16V.
Definition: servo_chain.h:156
static const unsigned int CENTER_POSITION
CENTER_POSITION.
Definition: servo_chain.h:150
static const unsigned char P_REGISTERED_INSTRUCTION
P_REGISTERED_INSTRUCTION.
Definition: servo_chain.h:205
unsigned int get_position(unsigned char id, bool refresh=false)
Get current position.
void write_table_value(unsigned char id, unsigned char addr, unsigned int value, bool double_byte=false)
Write a table value.
static const unsigned char P_TORQUE_LIMIT_H
P_TORQUE_LIMIT_H.
Definition: servo_chain.h:196
void set_id(unsigned char id, unsigned char new_id)
Set ID.
void get_calibration(unsigned char id, unsigned int &down_calib, unsigned int &up_calib, bool refresh=false)
Get calibration data.
unsigned char get_baudrate(unsigned char id, bool refresh=false)
Get baud rate.
static const unsigned char P_MODEL_NUMBER_L
P_MODEL_NUMBER_L.
Definition: servo_chain.h:160
bool ping(unsigned char id, unsigned int timeout_ms=100)
Ping servo.
static const unsigned char P_SYSTEM_DATA2
P_SYSTEM_DATA2.
Definition: servo_chain.h:170
void get_angle_limits(unsigned char id, unsigned int &cw_limit, unsigned int &ccw_limit, bool refresh=false)
Get angle limits.
static const unsigned char P_RETURN_LEVEL
P_RETURN_LEVEL.
Definition: servo_chain.h:176
void goto_position(unsigned char id, unsigned int value)
Move servo to specified position.
unsigned int get_punch(unsigned char id, bool refresh=false)
Get punch.
void set_torque_enabled(unsigned char id, bool enabled)
Enable or disable torque.
static const unsigned char SRL_RESPOND_NONE
SRL_RESPOND_NONE.
Definition: servo_chain.h:144
void lock_config(unsigned char id)
Lock config.
static const unsigned char P_CW_ANGLE_LIMIT_H
P_CW_ANGLE_LIMIT_H.
Definition: servo_chain.h:167
void finish_read_table_values()
Finish control table receive operations.
bool data_available()
Check data availability.
static const unsigned char P_OPERATING_MODE
P_OPERATING_MODE.
Definition: servo_chain.h:179
float get_max_supported_speed(unsigned char id, bool refresh=false)
Get maximum supported speed.
void get_voltage_limits(unsigned char id, unsigned char &low, unsigned char &high, bool refresh=false)
Get voltage limits.
void set_max_torque(unsigned char id, unsigned int max_torque)
Set maximum torque.
static const unsigned int MAX_SPEED
MAX_SPEED.
Definition: servo_chain.h:157
static const unsigned char P_PRESENT_TEMPERATURE
P_PRESENT_TEMPERATURE.
Definition: servo_chain.h:204
static const unsigned char P_MAX_TORQUE_H
P_MAX_TORQUE_H.
Definition: servo_chain.h:175
static const unsigned char P_PRESENT_POSITION_L
P_PRESENT_POSITION_L.
Definition: servo_chain.h:197
static const float POS_TICKS_PER_RAD
POS_TICKS_PER_RAD.
Definition: servo_chain.h:154
void open()
Open serial port.
void goto_positions(unsigned int num_positions,...)
Move several servos to specified positions.
void set_baudrate(unsigned char id, unsigned char baudrate)
Set baud rate.
static const float RAD_PER_POS_TICK
RAD_PER_POS_TICK.
Definition: servo_chain.h:153
static const unsigned char P_BAUD_RATE
P_BAUD_RATE.
Definition: servo_chain.h:164
unsigned char get_alarm_led(unsigned char id, bool refresh=false)
Get alarm LED status.
static const unsigned char P_RETURN_DELAY_TIME
P_RETURN_DELAY_TIME.
Definition: servo_chain.h:165
unsigned int get_speed(unsigned char id, bool refresh=false)
Get current speed.
static const unsigned char P_CCW_COMPLIANCE_MARGIN
P_CCW_COMPLIANCE_MARGIN.
Definition: servo_chain.h:188
unsigned int get_goal_position(unsigned char id, bool refresh=false)
Get goal position.
unsigned char get_error(unsigned char id)
Get error flags set by the servo.
static const unsigned int MAX_POSITION
MAX_POSITION.
Definition: servo_chain.h:149
void write_table_values(unsigned char id, unsigned char start_addr, unsigned char *values, unsigned int num_values)
Write multiple table values.
static const unsigned char P_PUNCH_H
P_PUNCH_H.
Definition: servo_chain.h:210
static const unsigned char P_PUNCH_L
P_PUNCH_L.
Definition: servo_chain.h:209
void set_torques_enabled(bool enabled, unsigned int num_servos,...)
Enable or disable torque for multiple (selected) servos at once.
bool is_moving(unsigned char id, bool refresh=false)
Check if servo is moving.
void set_led_enabled(unsigned char id, bool enabled)
Turn LED on or off.
unsigned char get_temperature(unsigned char id, bool refresh=false)
Get temperature.
static const unsigned char P_MOVING
P_MOVING.
Definition: servo_chain.h:207
static const unsigned char BROADCAST_ID
BROADCAST_ID.
Definition: servo_chain.h:148
void set_voltage_limits(unsigned char id, unsigned char low, unsigned char high)
Set voltage limits.
static const unsigned char P_UP_CALIBRATION_H
P_UP_CALIBRATION_H.
Definition: servo_chain.h:183
static const unsigned char P_GOAL_SPEED_L
P_GOAL_SPEED_L.
Definition: servo_chain.h:193
static const unsigned char P_MAX_TORQUE_L
P_MAX_TORQUE_L.
Definition: servo_chain.h:174
void set_temperature_limit(unsigned char id, unsigned char temp_limit)
Set temperature limit.
bool is_torque_enabled(unsigned char id, bool refresh=false)
Check if torque is enabled.
static const unsigned char P_PRESENT_VOLTAGE
P_PRESENT_VOLTAGE.
Definition: servo_chain.h:203
const char * get_model(unsigned char id, bool refresh=false)
Get model string.
unsigned char get_delay_time(unsigned char id, bool refresh=false)
Get time of the delay before replies are sent.
unsigned char get_alarm_shutdown(unsigned char id, bool refresh=false)
Get shutdown on alarm state.
bool is_locked(unsigned char id, bool refresh=false)
Check is servo is locked.
static const unsigned char P_GOAL_POSITION_H
P_GOAL_POSITION_H.
Definition: servo_chain.h:192
static const unsigned char P_LOCK
P_LOCK.
Definition: servo_chain.h:208
static const unsigned char P_VERSION
P_VERSION.
Definition: servo_chain.h:162
unsigned int get_torque_limit(unsigned char id, bool refresh=false)
Get torque limit.
static const unsigned char P_DOWN_CALIBRATION_H
P_DOWN_CALIBRATION_H.
Definition: servo_chain.h:181
static const unsigned char P_ALARM_SHUTDOWN
P_ALARM_SHUTDOWN.
Definition: servo_chain.h:178
unsigned char get_firmware_version(unsigned char id, bool refresh=false)
Get firmware version.
void start_read_table_values(unsigned char id)
Start to receive table values.
unsigned char get_status_return_level(unsigned char id, bool refresh=false)
Get status return level.
static const unsigned char P_LED
P_LED.
Definition: servo_chain.h:186
unsigned int get_load(unsigned char id, bool refresh=false)
Get current load.
static const unsigned char P_CW_ANGLE_LIMIT_L
P_CW_ANGLE_LIMIT_L.
Definition: servo_chain.h:166
static const unsigned char P_GOAL_SPEED_H
P_GOAL_SPEED_H.
Definition: servo_chain.h:194