From 01c1fb47a2b10e5ec927d00ddcc5c28c3d71f4d2 Mon Sep 17 00:00:00 2001 From: zerom Date: Thu, 3 Jan 2019 16:20:00 +0900 Subject: [PATCH] - added RH-P12-RN(A).device --- .../devices/dynamixel/RH-P12-RN(A).device | 90 +++++++++++++++++++ .../devices/dynamixel/RH-P12-RN.device | 2 +- 2 files changed, 91 insertions(+), 1 deletion(-) create mode 100644 robotis_device/devices/dynamixel/RH-P12-RN(A).device diff --git a/robotis_device/devices/dynamixel/RH-P12-RN(A).device b/robotis_device/devices/dynamixel/RH-P12-RN(A).device new file mode 100644 index 0000000..31d253b --- /dev/null +++ b/robotis_device/devices/dynamixel/RH-P12-RN(A).device @@ -0,0 +1,90 @@ +[device info] +model_name = RH-P12-RN(A) +device_type = dynamixel + +[type info] +value_of_0_radian_position = 0 +value_of_min_radian_position = 0 +value_of_max_radian_position = 740 +min_radian = 0 +max_radian = 1.150767 + +torque_enable_item_name = torque_enable +present_position_item_name = present_position +present_velocity_item_name = present_velocity +present_current_item_name = present_current +goal_position_item_name = goal_position +goal_velocity_item_name = goal_velocity +goal_current_item_name = goal_current +position_d_gain_item_name = position_d_gain +position_i_gain_item_name = position_i_gain +position_p_gain_item_name = position_p_gain +velocity_d_gain_item_name = +velocity_i_gain_item_name = velocity_i_gain +velocity_p_gain_item_name = velocity_p_gain + +[control table] +# addr | item name | length | access | memory | min value | max value | signed + 0 | model_number | 2 | R | EEPROM | 0 | 65535 | N + 6 | version_of_firmware | 1 | R | EEPROM | 0 | 254 | N + 7 | ID | 1 | RW | EEPROM | 0 | 252 | N + 8 | baudrate | 1 | RW | EEPROM | 0 | 9 | N + 9 | return_delay_time | 1 | RW | EEPROM | 0 | 254 | N + 10 | drive_mode | 1 | RW | EEPROM | 0 | 1 | N + 11 | operating_mode | 1 | RW | EEPROM | 0 | 4 | N + 12 | secondary_ID | 1 | RW | EEPROM | 0 | 255 | N + 20 | homing_offset | 4 | RW | EEPROM | -1150 | 1150 | Y + 24 | moving_threshold | 4 | RW | EEPROM | 0 | 2970 | N + 31 | max_temperature_limit | 1 | RW | EEPROM | 0 | 100 | N + 32 | max_voltage_limit | 2 | RW | EEPROM | 0 | 350 | N + 34 | min_voltage_limit | 2 | RW | EEPROM | 0 | 350 | N + 36 | pwm_limit | 2 | RW | EEPROM | 0 | 2009 | N + 38 | current_limit | 2 | RW | EEPROM | 0 | 1984 | N + 40 | acceleration_limit | 4 | RW | EEPROM | 0 | 1378788 | N + 44 | velocity_limit | 4 | RW | EEPROM | 0 | 2970 | N + 48 | max_position_limit | 4 | RW | EEPROM | 0 | 1150 | N + 52 | min_position_limit | 4 | RW | EEPROM | 0 | 1150 | N + 56 | external_port_mod_1 | 1 | RW | EEPROM | 0 | 3 | N + 57 | external_port_mod_2 | 1 | RW | EEPROM | 0 | 3 | N + 58 | external_port_mod_3 | 1 | RW | EEPROM | 0 | 3 | N + 59 | external_port_mod_4 | 1 | RW | EEPROM | 0 | 3 | N + 63 | shutdown | 1 | RW | EEPROM | 0 | 255 | N + 168 | indirect_address_1 | 2 | RW | EEPROM | 512 | 1023 | N + 512 | torque_enable | 1 | RW | RAM | 0 | 1 | N + 513 | LED_RED | 1 | RW | RAM | 0 | 255 | N + 514 | LED_GREEN | 1 | RW | RAM | 0 | 255 | N + 515 | LED_BLUE | 1 | RW | RAM | 0 | 255 | N + 516 | status_return_level | 1 | RW | RAM | 0 | 2 | N + 517 | registerd_instruction | 1 | R | RAM | 0 | 1 | N + 518 | hardware_error_status | 2 | R | RAM | 0 | 63 | N + 524 | velocity_i_gain | 2 | RW | RAM | 0 | 32767 | N + 526 | velocity_p_gain | 2 | RW | RAM | 0 | 32767 | N + 528 | position_d_gain | 2 | RW | RAM | 0 | 32767 | N + 530 | position_i_gain | 2 | RW | RAM | 0 | 32767 | N + 532 | position_p_gain | 2 | RW | RAM | 0 | 32767 | N + 536 | feedforward_2nd_gain | 2 | RW | RAM | 0 | 32767 | N + 538 | feedforward_1st_gain | 2 | RW | RAM | 0 | 32767 | N + 546 | bus_watchdog | 1 | RW | RAM | -1 | 127 | Y + 548 | goal_pwm | 2 | RW | RAM | -2009 | 2009 | Y + 550 | goal_current | 2 | RW | RAM | -1984 | 1984 | Y + 552 | goal_velocity | 4 | RW | RAM | -2970 | 2970 | Y + 556 | profile_acceleration | 4 | RW | RAM | 0 | 1378788 | N + 560 | profile_velocity | 4 | RW | RAM | 0 | 2970 | N + 564 | goal_position | 4 | RW | RAM | 0 | 1150 | N + 568 | realtime_tick | 2 | R | RAM | 0 | 32767 | N + 570 | is_moving | 1 | R | RAM | 0 | 1 | N + 571 | moving_status | 1 | R | RAM | 0 | 255 | N + 572 | present_pwm | 2 | R | RAM | -2009 | 2009 | Y + 574 | present_current | 2 | R | RAM | -1984 | 1984 | Y + 576 | present_velocity | 4 | R | RAM | -2970 | 2970 | Y + 580 | present_position | 4 | R | RAM | -1150 | 1150 | Y + 584 | velocity_trajectory | 4 | R | RAM | -2147483648 | 2147483648 | Y + 588 | position_trajectory | 4 | R | RAM | -2147483648 | 2147483648 | Y + 592 | present_voltage | 2 | R | RAM | 0 | 350 | N + 594 | present_temperature | 1 | R | RAM | 0 | 100 | N + 595 | grip_detection | 1 | R | RAM | 0 | 1 | N + 600 | external_port_data_1 | 2 | RW | RAM | 0 | 4095 | N + 602 | external_port_data_2 | 2 | RW | RAM | 0 | 4095 | N + 604 | external_port_data_3 | 2 | RW | RAM | 0 | 4095 | N + 606 | external_port_data_4 | 2 | RW | RAM | 0 | 4095 | N + 634 | indirect_data_1 | 1 | RW | RAM | 0 | 255 | N diff --git a/robotis_device/devices/dynamixel/RH-P12-RN.device b/robotis_device/devices/dynamixel/RH-P12-RN.device index aec9b67..14ed73b 100755 --- a/robotis_device/devices/dynamixel/RH-P12-RN.device +++ b/robotis_device/devices/dynamixel/RH-P12-RN.device @@ -30,7 +30,7 @@ velocity_p_gain_item_name = 7 | ID | 1 | RW | EEPROM | 0 | 252 | N 8 | baudrate | 1 | RW | EEPROM | 0 | 8 | N 9 | return_delay_time | 1 | RW | EEPROM | 0 | 254 | N - 11 | operating_mode | 1 | RW | EEPROM | 0 | 4 | N + 11 | operating_mode | 1 | RW | EEPROM | 0 | 5 | N 17 | moving_threshold | 4 | RW | EEPROM | 0 | 2147483647 | N 21 | max_temperature_limit | 1 | RW | EEPROM | 0 | 100 | N 22 | max_voltage_limit | 2 | RW | EEPROM | 0 | 400 | N