FingerMotor Class Reference

The FingerMotor class represents a finger motor, which is a specific type of motor. More...

#include <fingermotor.hpp>

Inheritance diagram for FingerMotor:

Public Member Functions
	FingerMotor (const std::string &serial_port, int baudrate, float protocol_version, dynamixel::PortHandler *const &portHandler, dynamixel::PacketHandler *const &packetHandler, uint8_t id)
	Constructs a FingerMotor object with specified parameters.
	FingerMotor (const std::string &serial_port, int baudrate, float protocol_version, uint8_t id)
	Constructs a FingerMotor object with specified parameters.
	FingerMotor ()
	Default constructor.
Public Member Functions inherited from uclv::dynamixel_utils::Motor
	Motor (const std::string &serial_port, int baudrate, float protocol_version, dynamixel::PortHandler *const &portHandler, dynamixel::PacketHandler *const &packetHandler, uint8_t id)
	Constructs a Motor object with specified parameters.
	Motor (const std::string &serial_port, int baudrate, float protocol_version, uint8_t id)
	Constructs a Motor object with specified parameters.
	Motor ()
	Default constructor.
void	setId (uint8_t id)
	Sets the identifier of the motor.
uint8_t	getId ()
	Gets the identifier of the motor.
void	setAddrTargetPosition (uint16_t addrTargetPosition)
	Sets the address for the target position.
uint16_t	getAddrTargetPosition () const
	Gets the address for the target position.
void	setAddrPresentPosition (uint16_t addrPresentPosition)
	Sets the address for the present position.
uint16_t	getAddrPresentPosition () const
	Gets the address for the present position.
void	setLenAddrTargetPosition (uint16_t lenAddrTargetPosition)
	Sets the size (nr of bytes to write) for address of the target position.
uint16_t	getLenAddrTargetPosition () const
	Gets the size (nr of bytes to write) for address of the target position.
void	setLenAddrPresentPosition (uint16_t lenAddrPresentPosition)
	Sets the size (nr of bytes to write) for address of the present position.
uint16_t	getLenAddrPresentPosition () const
	Gets the size (nr of bytes to write) for address of the present position.
void	setAddrTorqueEnable (uint16_t addrTorqueEnable)
uint16_t	getAddrTorqueEnable () const
void	setTargetPosition (float position)
	Sets the target position of the motor.
uint16_t	readPresentPosition ()
	Reads the present position of the motor.
void	write1OnAddress (uint8_t id, uint16_t address, uint8_t data)
	Writes a byte to the specified address of the motor.
void	write2OnAddress (uint8_t id, uint16_t address, uint16_t data)
	Writes two bytes to the specified address of the motor.
uint8_t	read1FromAddress (uint8_t id, uint16_t address)
	Reads a byte from the specified address of the motor.
uint16_t	read2FromAddress (uint8_t id, uint16_t address)
	Reads two bytes from the specified address of the motor.
bool	enableTorque ()
	Enables torque for the motor.
bool	disableTorque ()
	Disables torque for the motor.

Detailed Description

The FingerMotor class represents a finger motor, which is a specific type of motor.

Constructor & Destructor Documentation

FingerMotor() [1/3]

FingerMotor::FingerMotor	(	const std::string &	serial_port,
		int	baudrate,
		float	protocol_version,
		dynamixel::PortHandler *const &	portHandler,
		dynamixel::PacketHandler *const &	packetHandler,
		uint8_t	id )

Constructs a FingerMotor object with specified parameters.

Constructor of the FingerMotor class.

Parameters

serial_port	The serial port to which the motor is connected.
baudrate	The baudrate for the serial communication.
protocol_version	The protocol version used for communication.
portHandler	Pointer to the port handler.
packetHandler	Pointer to the packet handler.
id	Identifier of the motor.

This constructor initializes the FingerMotor class with the provided parameters.

Parameters

serial_port	The serial port to which the motor is connected.
baudrate	The baudrate of the serial communication.
protocol_version	The version of the protocol used.
portHandler	Pointer to the port handler.
packetHandler	Pointer to the packet handler.
id	The identifier of the motor.

FingerMotor() [2/3]

FingerMotor::FingerMotor	(	const std::string &	serial_port,
		int	baudrate,
		float	protocol_version,
		uint8_t	id )

Constructs a FingerMotor object with specified parameters.

Constructor of the FingerMotor class.

Parameters

serial_port	The serial port to which the motor is connected.
baudrate	The baudrate for the serial communication.
protocol_version	The protocol version used for communication.
id	Identifier of the motor.

This constructor initializes the FingerMotor class with the provided parameters. It creates the port and packet handlers based on the serial port and protocol version.

Parameters

serial_port	The serial port to which the motor is connected.
baudrate	The baudrate of the serial communication.
protocol_version	The version of the protocol used.
id	The identifier of the motor.

FingerMotor() [3/3]

FingerMotor::FingerMotor

(

)

Default constructor.

Default constructor of the FingerMotor class.

This constructor initializes the FingerMotor class with default values.

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The documentation for this class was generated from the following files:

• include/uclv_dynamixel_utils/fingermotor.hpp
• src/fingermotor.cpp