The Motor class represents a single motor connected to the system. More...

#include <motor.hpp>

Inheritance diagram for uclv::dynamixel_utils::Motor:

Public Member Functions
	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 Motor class represents a single motor connected to the system.

Constructor & Destructor Documentation

◆ Motor() [1/3]

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.

Constructor of the Motor 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 Motor 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.

◆ Motor() [2/3]

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

Constructs a Motor object with specified parameters.

Constructor of the Motor 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 Motor 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.

◆ Motor() [3/3]

Motor::Motor ( )

Default constructor.

Default constructor of the Motor class.

This constructor initializes the Motor class with default values.

Member Function Documentation

◆ disableTorque()

bool Motor::disableTorque ( )

Disables torque for the motor.

This method disables torque for the motor by writing a value of 0 to the torque enable address.

Returns: True if torque is successfully disabled, false otherwise.

◆ enableTorque()

bool Motor::enableTorque ( )

Enables torque for the motor.

This method enables torque for the motor by writing a value of 1 to the torque enable address.

Returns: True if torque is successfully enabled, false otherwise.

◆ getAddrPresentPosition()

uint16_t Motor::getAddrPresentPosition ( ) const

Gets the address for the present position.

Returns: The address for the present position.

◆ getAddrTargetPosition()

uint16_t Motor::getAddrTargetPosition ( ) const

Gets the address for the target position.

Returns: The address for the target position.

◆ getId()

uint8_t Motor::getId ( )

Gets the identifier of the motor.

Gets the ID of the motor.

Returns: Identifier of the motor.; The identifier of the motor.

◆ getLenAddrPresentPosition()

uint16_t Motor::getLenAddrPresentPosition ( ) const

Gets the size (nr of bytes to write) for address of the present position.

Returns: The size to be set for length of address for present position.

◆ getLenAddrTargetPosition()

uint16_t Motor::getLenAddrTargetPosition ( ) const

Gets the size (nr of bytes to write) for address of the target position.

Returns: The size to be set for length of address for target position.

◆ read1FromAddress()

uint8_t Motor::read1FromAddress	(	uint8_t	id,
		uint16_t	address )

Reads a byte from the specified address of the motor.

Reads a 1-byte value from a specified address on the motor.

Parameters

id	Identifier of the motor.
address	Address to read from.

Returns: Read data.

Parameters

id	The identifier of the motor.
address	The address to read the data from.

Returns: The data read from the address.

◆ read2FromAddress()

uint16_t Motor::read2FromAddress	(	uint8_t	id,
		uint16_t	address )

Reads two bytes from the specified address of the motor.

Reads a 2-byte value from a specified address on the motor.

Parameters

id	Identifier of the motor.
address	Address to read from.

Returns: Read data.

Parameters

id	The identifier of the motor.
address	The address to read the data from.

Returns: The data read from the address.

◆ readPresentPosition()

uint16_t Motor::readPresentPosition ( )

Reads the present position of the motor.

Returns: Present position of the motor.

Parameters

id	The identifier of the motor.

Returns: The present position of the motor.

◆ setAddrPresentPosition()

void Motor::setAddrPresentPosition ( uint16_t addrPresentPosition )

Sets the address for the present position.

Parameters

addrPresentPosition The address to be set for the present position.

◆ setAddrTargetPosition()

void Motor::setAddrTargetPosition ( uint16_t addrTargetPosition )

Sets the address for the target position.

Parameters

addrTargetPosition The address to be set for the target position.

◆ setId()

void Motor::setId ( uint8_t id )

Sets the identifier of the motor.

Sets the ID of the motor.

Parameters

id	Identifier of the motor.
id	The new identifier of the motor.

◆ setLenAddrPresentPosition()

void Motor::setLenAddrPresentPosition ( uint16_t lenAddrPresentPosition )

Sets the size (nr of bytes to write) for address of the present position.

Parameters

lenAddrPresentPosition The size to be set for length of address for present position.

◆ setLenAddrTargetPosition()

void Motor::setLenAddrTargetPosition ( uint16_t lenAddrTargetPosition )

Sets the size (nr of bytes to write) for address of the target position.

Parameters

lenAddrTargetPosition The size to be set for length of address for target position.

◆ setTargetPosition()

void Motor::setTargetPosition ( float position )

Sets the target position of the motor.

Sets the target position for the motor.

Parameters

position	Target position.
id	The identifier of the motor.
position	The target position to set.

◆ write1OnAddress()

void Motor::write1OnAddress	(	uint8_t	id,
		uint16_t	address,
		uint8_t	data )

Writes a byte to the specified address of the motor.

Writes a 1-byte value to a specified address on the motor.

Parameters

id	Identifier of the motor.
address	Address to write to.
data	Data to write.
id	The identifier of the motor.
address	The address to write the data to.
data	The data to write.

◆ write2OnAddress()

void Motor::write2OnAddress	(	uint8_t	id,
		uint16_t	address,
		uint16_t	data )

Writes two bytes to the specified address of the motor.

Writes a 2-byte value to a specified address on the motor.

Parameters

id	Identifier of the motor.
address	Address to write to.
data	Data to write.
id	The identifier of the motor.
address	The address to write the data to.
data	The data to write.

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

include/uclv_dynamixel_utils/motor.hpp
src/motor.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Motor() [1/3]

◆ Motor() [2/3]

◆ Motor() [3/3]

Member Function Documentation

◆ disableTorque()

◆ enableTorque()

◆ getAddrPresentPosition()

◆ getAddrTargetPosition()

◆ getId()

◆ getLenAddrPresentPosition()

◆ getLenAddrTargetPosition()

◆ read1FromAddress()

◆ read2FromAddress()

◆ readPresentPosition()

◆ setAddrPresentPosition()

◆ setAddrTargetPosition()

◆ setId()

◆ setLenAddrPresentPosition()

◆ setLenAddrTargetPosition()

◆ setTargetPosition()

◆ write1OnAddress()

◆ write2OnAddress()