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ROBOTIS
2016-03-04 21:01:35 +09:00
parent fe3b64d56a
commit 587ba84c70
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61
robotis_device/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 2.8.3)
project(robotis_device)
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
dynamixel_sdk
robotis_framework_common
)
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
INCLUDE_DIRS include
# LIBRARIES robotis_device
CATKIN_DEPENDS roscpp rospy
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
include
${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
add_library(robotis_device
src/robotis_device/Robot.cpp
src/robotis_device/Dynamixel.cpp
)
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
add_dependencies(robotis_device ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
# add_executable(robotis_device_node src/robotis_device_node.cpp)
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(robotis_device_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
target_link_libraries(robotis_device
dynamixel_sdk
${catkin_LIBRARIES}
)

70
robotis_device/devices/dynamixel/GRIPPER.device Normal file
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[device info]
model_name = GRIPPER
device_type = Dynamixel
[type info]
0_radian_position_value = 0
min_radian_position_value = 0
max_radian_position_value = 750
min_radian = 0
max_radian = 1.150767
torque_enable_address = 562
position_d_gain_address =
position_i_gain_address =
position_p_gain_address = 594
goal_position_address = 596
goal_velocity_address = 600
goal_torque_address = 604
present_position_address = 611
present_velocity_address = 615
present_load_address = 621
is_moving_address = 610
[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 | 8 | N
9 | return_delay_time | 1 | RW | EEPROM | 0 | 254 | N
11 | operating_mode | 1 | RW | EEPROM | 0 | 4 | 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
24 | min_voltage_limit | 2 | RW | EEPROM | 0 | 400 | N
26 | acceleration_limit | 4 | RW | EEPROM | 0 | 2147483647 | N
30 | torque_limit | 2 | RW | EEPROM | 0 | 32767 | N
32 | velocity_limit | 4 | RW | EEPROM | 0 | 2147483647 | N
36 | max_position_limit | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
40 | min_position_limit | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
44 | external_port_mod_1 | 1 | RW | EEPROM | 0 | 3 | N
45 | external_port_mod_2 | 1 | RW | EEPROM | 0 | 3 | N
46 | external_port_mod_3 | 1 | RW | EEPROM | 0 | 3 | N
47 | external_port_mod_4 | 1 | RW | EEPROM | 0 | 3 | N
48 | shutdown | 1 | RW | EEPROM | 0 | 255 | N
49 | indirect_address_1 | 2 | RW | EEPROM | 0 | 65535 | N
562 | torque_enable | 1 | RW | RAM | 0 | 1 | N
563 | LED_RED | 1 | RW | RAM | 0 | 255 | N
564 | LED_GREEN | 1 | RW | RAM | 0 | 255 | N
565 | LED_BLUE | 1 | RW | RAM | 0 | 255 | N
586 | velocity_I_gain | 2 | RW | RAM | 0 | 2047 | N
588 | velocity_P_gain | 2 | RW | RAM | 0 | 2047 | N
594 | position_P_gain | 2 | RW | RAM | 0 | 2047 | N
596 | goal_position | 4 | RW | RAM | -2147483648 | 2147483647 | Y
600 | goal_velocity | 4 | RW | RAM | -2147483648 | 2147483647 | Y
604 | goal_torque | 2 | RW | RAM | -32768 | 32767 | Y
606 | goal_acceleration | 4 | RW | RAM | 0 | 2147483647 | N
610 | is_moving | 1 | R | RAM | 0 | 1 | N
611 | present_position | 4 | R | RAM | -2147483648 | 2147483647 | Y
615 | present_velocity | 4 | R | RAM | -2147483648 | 2147483647 | Y
621 | present_current | 2 | R | RAM | -32768 | 32767 | Y
623 | present_voltage | 2 | R | RAM | 0 | 500 | N
625 | present_temperature | 1 | R | RAM | 0 | 200 | N
626 | external_port_data_1 | 2 | RW | RAM | 0 | 4095 | N
628 | external_port_data_2 | 2 | RW | RAM | 0 | 4095 | N
630 | external_port_data_3 | 2 | RW | RAM | 0 | 4095 | N
632 | external_port_data_4 | 2 | RW | RAM | 0 | 4095 | N
634 | indirect_data_1 | 1 | RW | RAM | 0 | 255 | N
890 | registerd_instruction | 1 | R | RAM | 0 | 1 | N
891 | status_return_level | 1 | RW | RAM | 0 | 2 | N
892 | hardware_error_status | 2 | R | RAM | 0 | 31 | N

71
robotis_device/devices/dynamixel/H42-20-S300-R.device Normal file
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[device info]
model_name = H42-20-S300-R
device_type = Dynamixel
[type info]
0_radian_position_value = 0
min_radian_position_value = -151900
max_radian_position_value = 151900
min_radian = -3.14159265
max_radian = 3.14159265
torque_enable_address = 562
position_d_gain_address =
position_i_gain_address =
position_p_gain_address = 594
goal_position_address = 596
goal_velocity_address = 600
goal_torque_address = 604
present_position_address = 611
present_velocity_address = 615
present_load_address = 621
is_moving_address = 610
[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 | 8 | N
9 | return_delay_time | 1 | RW | EEPROM | 0 | 254 | N
11 | operating_mode | 1 | RW | EEPROM | 0 | 4 | N
13 | homing_offset | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
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
24 | min_voltage_limit | 2 | RW | EEPROM | 0 | 400 | N
26 | acceleration_limit | 4 | RW | EEPROM | 0 | 2147483647 | N
30 | torque_limit | 2 | RW | EEPROM | 0 | 32767 | N
32 | velocity_limit | 4 | RW | EEPROM | 0 | 2147483647 | N
36 | max_position_limit | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
40 | min_position_limit | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
44 | external_port_mod_1 | 1 | RW | EEPROM | 0 | 3 | N
45 | external_port_mod_2 | 1 | RW | EEPROM | 0 | 3 | N
46 | external_port_mod_3 | 1 | RW | EEPROM | 0 | 3 | N
47 | external_port_mod_4 | 1 | RW | EEPROM | 0 | 3 | N
48 | shutdown | 1 | RW | EEPROM | 0 | 255 | N
49 | indirect_address_1 | 2 | RW | EEPROM | 0 | 65535 | N
562 | torque_enable | 1 | RW | RAM | 0 | 1 | N
563 | LED_RED | 1 | RW | RAM | 0 | 255 | N
564 | LED_GREEN | 1 | RW | RAM | 0 | 255 | N
565 | LED_BLUE | 1 | RW | RAM | 0 | 255 | N
586 | velocity_I_gain | 2 | RW | RAM | 0 | 2047 | N
588 | velocity_P_gain | 2 | RW | RAM | 0 | 2047 | N
594 | position_P_gain | 2 | RW | RAM | 0 | 2047 | N
596 | goal_position | 4 | RW | RAM | -2147483648 | 2147483647 | Y
600 | goal_velocity | 4 | RW | RAM | -2147483648 | 2147483647 | Y
604 | goal_torque | 2 | RW | RAM | -32768 | 32767 | Y
606 | goal_acceleration | 4 | RW | RAM | 0 | 2147483647 | N
610 | is_moving | 1 | R | RAM | 0 | 1 | N
611 | present_position | 4 | R | RAM | -2147483648 | 2147483647 | Y
615 | present_velocity | 4 | R | RAM | -2147483648 | 2147483647 | Y
621 | present_current | 2 | R | RAM | -32768 | 32767 | Y
623 | present_voltage | 2 | R | RAM | 0 | 500 | N
625 | present_temperature | 1 | R | RAM | 0 | 200 | N
626 | external_port_data_1 | 2 | RW | RAM | 0 | 4095 | N
628 | external_port_data_2 | 2 | RW | RAM | 0 | 4095 | N
630 | external_port_data_3 | 2 | RW | RAM | 0 | 4095 | N
632 | external_port_data_4 | 2 | RW | RAM | 0 | 4095 | N
634 | indirect_data_1 | 1 | RW | RAM | 0 | 255 | N
890 | registerd_instruction | 1 | R | RAM | 0 | 1 | N
891 | status_return_level | 1 | RW | RAM | 0 | 2 | N
892 | hardware_error_status | 2 | R | RAM | 0 | 31 | N

71
robotis_device/devices/dynamixel/H54-100-S500-R.device Normal file
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[device info]
model_name = H54-100-S500-R
device_type = Dynamixel
[type info]
0_radian_position_value = 0
min_radian_position_value = -250950
max_radian_position_value = 250950
min_radian = -3.14159265
max_radian = 3.14159265
torque_enable_address = 562
position_d_gain_address =
position_i_gain_address =
position_p_gain_address = 594
goal_position_address = 596
goal_velocity_address = 600
goal_torque_address = 604
present_position_address = 611
present_velocity_address = 615
present_load_address = 621
is_moving_address = 610
[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 | 8 | N
9 | return_delay_time | 1 | RW | EEPROM | 0 | 254 | N
11 | operating_mode | 1 | RW | EEPROM | 0 | 4 | N
13 | homing_offset | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
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
24 | min_voltage_limit | 2 | RW | EEPROM | 0 | 400 | N
26 | acceleration_limit | 4 | RW | EEPROM | 0 | 2147483647 | N
30 | torque_limit | 2 | RW | EEPROM | 0 | 32767 | N
32 | velocity_limit | 4 | RW | EEPROM | 0 | 2147483647 | N
36 | max_position_limit | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
40 | min_position_limit | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
44 | external_port_mod_1 | 1 | RW | EEPROM | 0 | 3 | N
45 | external_port_mod_2 | 1 | RW | EEPROM | 0 | 3 | N
46 | external_port_mod_3 | 1 | RW | EEPROM | 0 | 3 | N
47 | external_port_mod_4 | 1 | RW | EEPROM | 0 | 3 | N
48 | shutdown | 1 | RW | EEPROM | 0 | 255 | N
49 | indirect_address_1 | 2 | RW | EEPROM | 0 | 65535 | N
562 | torque_enable | 1 | RW | RAM | 0 | 1 | N
563 | LED_RED | 1 | RW | RAM | 0 | 255 | N
564 | LED_GREEN | 1 | RW | RAM | 0 | 255 | N
565 | LED_BLUE | 1 | RW | RAM | 0 | 255 | N
586 | velocity_I_gain | 2 | RW | RAM | 0 | 2047 | N
588 | velocity_P_gain | 2 | RW | RAM | 0 | 2047 | N
594 | position_P_gain | 2 | RW | RAM | 0 | 2047 | N
596 | goal_position | 4 | RW | RAM | -2147483648 | 2147483647 | Y
600 | goal_velocity | 4 | RW | RAM | -2147483648 | 2147483647 | Y
604 | goal_torque | 2 | RW | RAM | -32768 | 32767 | Y
606 | goal_acceleration | 4 | RW | RAM | 0 | 2147483647 | N
610 | is_moving | 1 | R | RAM | 0 | 1 | N
611 | present_position | 4 | R | RAM | -2147483648 | 2147483647 | Y
615 | present_velocity | 4 | R | RAM | -2147483648 | 2147483647 | Y
621 | present_current | 2 | R | RAM | -32768 | 32767 | Y
623 | present_voltage | 2 | R | RAM | 0 | 500 | N
625 | present_temperature | 1 | R | RAM | 0 | 200 | N
626 | external_port_data_1 | 2 | RW | RAM | 0 | 4095 | N
628 | external_port_data_2 | 2 | RW | RAM | 0 | 4095 | N
630 | external_port_data_3 | 2 | RW | RAM | 0 | 4095 | N
632 | external_port_data_4 | 2 | RW | RAM | 0 | 4095 | N
634 | indirect_data_1 | 1 | RW | RAM | 0 | 255 | N
890 | registerd_instruction | 1 | R | RAM | 0 | 1 | N
891 | status_return_level | 1 | RW | RAM | 0 | 2 | N
892 | hardware_error_status | 2 | R | RAM | 0 | 31 | N

71
robotis_device/devices/dynamixel/H54-200-B500-R.device Normal file
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[device info]
model_name = H54-200-B500-R
device_type = Dynamixel
[type info]
0_radian_position_value = 0
min_radian_position_value = -250950
max_radian_position_value = 250950
min_radian = -3.14159265
max_radian = 3.14159265
torque_enable_address = 562
position_d_gain_address =
position_i_gain_address =
position_p_gain_address = 594
goal_position_address = 596
goal_velocity_address = 600
goal_torque_address = 604
present_position_address = 611
present_velocity_address = 615
present_load_address = 621
is_moving_address = 610
[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 | 8 | N
9 | return_delay_time | 1 | RW | EEPROM | 0 | 254 | N
11 | operating_mode | 1 | RW | EEPROM | 0 | 4 | N
13 | homing_offset | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
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
24 | min_voltage_limit | 2 | RW | EEPROM | 0 | 400 | N
26 | acceleration_limit | 4 | RW | EEPROM | 0 | 2147483647 | N
30 | torque_limit | 2 | RW | EEPROM | 0 | 32767 | N
32 | velocity_limit | 4 | RW | EEPROM | 0 | 2147483647 | N
36 | max_position_limit | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
40 | min_position_limit | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
44 | external_port_mod_1 | 1 | RW | EEPROM | 0 | 3 | N
45 | external_port_mod_2 | 1 | RW | EEPROM | 0 | 3 | N
46 | external_port_mod_3 | 1 | RW | EEPROM | 0 | 3 | N
47 | external_port_mod_4 | 1 | RW | EEPROM | 0 | 3 | N
48 | shutdown | 1 | RW | EEPROM | 0 | 255 | N
49 | indirect_address_1 | 2 | RW | EEPROM | 0 | 65535 | N
562 | torque_enable | 1 | RW | RAM | 0 | 1 | N
563 | LED_RED | 1 | RW | RAM | 0 | 255 | N
564 | LED_GREEN | 1 | RW | RAM | 0 | 255 | N
565 | LED_BLUE | 1 | RW | RAM | 0 | 255 | N
586 | velocity_I_gain | 2 | RW | RAM | 0 | 2047 | N
588 | velocity_P_gain | 2 | RW | RAM | 0 | 2047 | N
594 | position_P_gain | 2 | RW | RAM | 0 | 2047 | N
596 | goal_position | 4 | RW | RAM | -2147483648 | 2147483647 | Y
600 | goal_velocity | 4 | RW | RAM | -2147483648 | 2147483647 | Y
604 | goal_torque | 2 | RW | RAM | -32768 | 32767 | Y
606 | goal_acceleration | 4 | RW | RAM | 0 | 2147483647 | N
610 | is_moving | 1 | R | RAM | 0 | 1 | N
611 | present_position | 4 | R | RAM | -2147483648 | 2147483647 | Y
615 | present_velocity | 4 | R | RAM | -2147483648 | 2147483647 | Y
621 | present_current | 2 | R | RAM | -32768 | 32767 | Y
623 | present_voltage | 2 | R | RAM | 0 | 500 | N
625 | present_temperature | 1 | R | RAM | 0 | 200 | N
626 | external_port_data_1 | 2 | RW | RAM | 0 | 4095 | N
628 | external_port_data_2 | 2 | RW | RAM | 0 | 4095 | N
630 | external_port_data_3 | 2 | RW | RAM | 0 | 4095 | N
632 | external_port_data_4 | 2 | RW | RAM | 0 | 4095 | N
634 | indirect_data_1 | 1 | RW | RAM | 0 | 255 | N
890 | registerd_instruction | 1 | R | RAM | 0 | 1 | N
891 | status_return_level | 1 | RW | RAM | 0 | 2 | N
892 | hardware_error_status | 2 | R | RAM | 0 | 31 | N

71
robotis_device/devices/dynamixel/H54-200-S500-R.device Normal file
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[device info]
model_name = H54-200-S500-R
device_type = Dynamixel
[type info]
0_radian_position_value = 0
min_radian_position_value = -250950
max_radian_position_value = 250950
min_radian = -3.14159265
max_radian = 3.14159265
torque_enable_address = 562
position_d_gain_address =
position_i_gain_address =
position_p_gain_address = 594
goal_position_address = 596
goal_velocity_address = 600
goal_torque_address = 604
present_position_address = 611
present_velocity_address = 615
present_load_address = 621
is_moving_address = 610
[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 | 8 | N
9 | return_delay_time | 1 | RW | EEPROM | 0 | 254 | N
11 | operating_mode | 1 | RW | EEPROM | 0 | 4 | N
13 | homing_offset | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
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
24 | min_voltage_limit | 2 | RW | EEPROM | 0 | 400 | N
26 | acceleration_limit | 4 | RW | EEPROM | 0 | 2147483647 | N
30 | torque_limit | 2 | RW | EEPROM | 0 | 32767 | N
32 | velocity_limit | 4 | RW | EEPROM | 0 | 2147483647 | N
36 | max_position_limit | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
40 | min_position_limit | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
44 | external_port_mod_1 | 1 | RW | EEPROM | 0 | 3 | N
45 | external_port_mod_2 | 1 | RW | EEPROM | 0 | 3 | N
46 | external_port_mod_3 | 1 | RW | EEPROM | 0 | 3 | N
47 | external_port_mod_4 | 1 | RW | EEPROM | 0 | 3 | N
48 | shutdown | 1 | RW | EEPROM | 0 | 255 | N
49 | indirect_address_1 | 2 | RW | EEPROM | 0 | 65535 | N
562 | torque_enable | 1 | RW | RAM | 0 | 1 | N
563 | LED_RED | 1 | RW | RAM | 0 | 255 | N
564 | LED_GREEN | 1 | RW | RAM | 0 | 255 | N
565 | LED_BLUE | 1 | RW | RAM | 0 | 255 | N
586 | velocity_I_gain | 2 | RW | RAM | 0 | 2047 | N
588 | velocity_P_gain | 2 | RW | RAM | 0 | 2047 | N
594 | position_P_gain | 2 | RW | RAM | 0 | 2047 | N
596 | goal_position | 4 | RW | RAM | -2147483648 | 2147483647 | Y
600 | goal_velocity | 4 | RW | RAM | -2147483648 | 2147483647 | Y
604 | goal_torque | 2 | RW | RAM | -32768 | 32767 | Y
606 | goal_acceleration | 4 | RW | RAM | 0 | 2147483647 | N
610 | is_moving | 1 | R | RAM | 0 | 1 | N
611 | present_position | 4 | R | RAM | -2147483648 | 2147483647 | Y
615 | present_velocity | 4 | R | RAM | -2147483648 | 2147483647 | Y
621 | present_current | 2 | R | RAM | -32768 | 32767 | Y
623 | present_voltage | 2 | R | RAM | 0 | 500 | N
625 | present_temperature | 1 | R | RAM | 0 | 200 | N
626 | external_port_data_1 | 2 | RW | RAM | 0 | 4095 | N
628 | external_port_data_2 | 2 | RW | RAM | 0 | 4095 | N
630 | external_port_data_3 | 2 | RW | RAM | 0 | 4095 | N
632 | external_port_data_4 | 2 | RW | RAM | 0 | 4095 | N
634 | indirect_data_1 | 1 | RW | RAM | 0 | 255 | N
890 | registerd_instruction | 1 | R | RAM | 0 | 1 | N
891 | status_return_level | 1 | RW | RAM | 0 | 2 | N
892 | hardware_error_status | 2 | R | RAM | 0 | 31 | N

70
robotis_device/devices/dynamixel/L42-10-S300-R.device Normal file
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[device info]
model_name = L42-10-S300-R
device_type = Dynamixel
[type info]
0_radian_position_value = 0
min_radian_position_value = -2047
max_radian_position_value = 2048
min_radian = -3.14159265
max_radian = 3.14159265
torque_enable_address = 562
position_d_gain_address =
position_i_gain_address =
position_p_gain_address = 594
goal_position_address = 596
goal_velocity_address = 600
goal_torque_address = 604
present_position_address = 611
present_velocity_address = 615
present_load_address = 621
is_moving_address = 610
[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 | 8 | N
9 | return_delay_time | 1 | RW | EEPROM | 0 | 254 | N
11 | operating_mode | 1 | RW | EEPROM | 0 | 4 | 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
24 | min_voltage_limit | 2 | RW | EEPROM | 0 | 400 | N
26 | acceleration_limit | 4 | RW | EEPROM | 0 | 2147483647 | N
30 | torque_limit | 2 | RW | EEPROM | 0 | 32767 | N
32 | velocity_limit | 4 | RW | EEPROM | 0 | 2147483647 | N
36 | max_position_limit | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
40 | min_position_limit | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
44 | external_port_mod_1 | 1 | RW | EEPROM | 0 | 3 | N
45 | external_port_mod_2 | 1 | RW | EEPROM | 0 | 3 | N
46 | external_port_mod_3 | 1 | RW | EEPROM | 0 | 3 | N
47 | external_port_mod_4 | 1 | RW | EEPROM | 0 | 3 | N
48 | shutdown | 1 | RW | EEPROM | 0 | 255 | N
49 | indirect_address_1 | 2 | RW | EEPROM | 0 | 65535 | N
562 | torque_enable | 1 | RW | RAM | 0 | 1 | N
563 | LED_RED | 1 | RW | RAM | 0 | 255 | N
564 | LED_GREEN | 1 | RW | RAM | 0 | 255 | N
565 | LED_BLUE | 1 | RW | RAM | 0 | 255 | N
586 | velocity_I_gain | 2 | RW | RAM | 0 | 2047 | N
588 | velocity_P_gain | 2 | RW | RAM | 0 | 2047 | N
594 | position_P_gain | 2 | RW | RAM | 0 | 2047 | N
596 | goal_position | 4 | RW | RAM | -2147483648 | 2147483647 | Y
600 | goal_velocity | 4 | RW | RAM | -2147483648 | 2147483647 | Y
604 | goal_torque | 2 | RW | RAM | -32768 | 32767 | Y
606 | goal_acceleration | 4 | RW | RAM | 0 | 2147483647 | N
610 | is_moving | 1 | R | RAM | 0 | 1 | N
611 | present_position | 4 | R | RAM | -2147483648 | 2147483647 | Y
615 | present_velocity | 4 | R | RAM | -2147483648 | 2147483647 | Y
621 | present_current | 2 | R | RAM | -32768 | 32767 | Y
623 | present_voltage | 2 | R | RAM | 0 | 500 | N
625 | present_temperature | 1 | R | RAM | 0 | 200 | N
626 | external_port_data_1 | 2 | RW | RAM | 0 | 4095 | N
628 | external_port_data_2 | 2 | RW | RAM | 0 | 4095 | N
630 | external_port_data_3 | 2 | RW | RAM | 0 | 4095 | N
632 | external_port_data_4 | 2 | RW | RAM | 0 | 4095 | N
634 | indirect_data_1 | 1 | RW | RAM | 0 | 255 | N
890 | registerd_instruction | 1 | R | RAM | 0 | 1 | N
891 | status_return_level | 1 | RW | RAM | 0 | 2 | N
892 | hardware_error_status | 2 | R | RAM | 0 | 31 | N

71
robotis_device/devices/dynamixel/L54-30-S400-R.device Normal file
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[device info]
model_name = L54-30-S400-R
device_type = Dynamixel
[type info]
0_radian_position_value = 0
min_radian_position_value = -144198
max_radian_position_value = 144198
min_radian = -3.14159265
max_radian = 3.14159265
torque_enable_address = 562
position_d_gain_address =
position_i_gain_address =
position_p_gain_address = 594
goal_position_address = 596
goal_velocity_address = 600
goal_torque_address = 604
present_position_address = 611
present_velocity_address = 615
present_load_address = 621
is_moving_address = 610
[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 | 8 | N
9 | return_delay_time | 1 | RW | EEPROM | 0 | 254 | N
11 | operating_mode | 1 | RW | EEPROM | 0 | 4 | N
13 | homing_offset | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
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
24 | min_voltage_limit | 2 | RW | EEPROM | 0 | 400 | N
26 | acceleration_limit | 4 | RW | EEPROM | 0 | 2147483647 | N
30 | torque_limit | 2 | RW | EEPROM | 0 | 32767 | N
32 | velocity_limit | 4 | RW | EEPROM | 0 | 2147483647 | N
36 | max_position_limit | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
40 | min_position_limit | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
44 | external_port_mod_1 | 1 | RW | EEPROM | 0 | 3 | N
45 | external_port_mod_2 | 1 | RW | EEPROM | 0 | 3 | N
46 | external_port_mod_3 | 1 | RW | EEPROM | 0 | 3 | N
47 | external_port_mod_4 | 1 | RW | EEPROM | 0 | 3 | N
48 | shutdown | 1 | RW | EEPROM | 0 | 255 | N
49 | indirect_address_1 | 2 | RW | EEPROM | 0 | 65535 | N
562 | torque_enable | 1 | RW | RAM | 0 | 1 | N
563 | LED_RED | 1 | RW | RAM | 0 | 255 | N
564 | LED_GREEN | 1 | RW | RAM | 0 | 255 | N
565 | LED_BLUE | 1 | RW | RAM | 0 | 255 | N
586 | velocity_I_gain | 2 | RW | RAM | 0 | 2047 | N
588 | velocity_P_gain | 2 | RW | RAM | 0 | 2047 | N
594 | position_P_gain | 2 | RW | RAM | 0 | 2047 | N
596 | goal_position | 4 | RW | RAM | -2147483648 | 2147483647 | Y
600 | goal_velocity | 4 | RW | RAM | -2147483648 | 2147483647 | Y
604 | goal_torque | 2 | RW | RAM | -32768 | 32767 | Y
606 | goal_acceleration | 4 | RW | RAM | 0 | 2147483647 | N
610 | is_moving | 1 | R | RAM | 0 | 1 | N
611 | present_position | 4 | R | RAM | -2147483648 | 2147483647 | Y
615 | present_velocity | 4 | R | RAM | -2147483648 | 2147483647 | Y
621 | present_current | 2 | R | RAM | -32768 | 32767 | Y
623 | present_voltage | 2 | R | RAM | 0 | 500 | N
625 | present_temperature | 1 | R | RAM | 0 | 200 | N
626 | external_port_data_1 | 2 | RW | RAM | 0 | 4095 | N
628 | external_port_data_2 | 2 | RW | RAM | 0 | 4095 | N
630 | external_port_data_3 | 2 | RW | RAM | 0 | 4095 | N
632 | external_port_data_4 | 2 | RW | RAM | 0 | 4095 | N
634 | indirect_data_1 | 1 | RW | RAM | 0 | 255 | N
890 | registerd_instruction | 1 | R | RAM | 0 | 1 | N
891 | status_return_level | 1 | RW | RAM | 0 | 2 | N
892 | hardware_error_status | 2 | R | RAM | 0 | 31 | N

71
robotis_device/devices/dynamixel/L54-30-S500-R.device Normal file
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[device info]
model_name = L54-30-S500-R
device_type = Dynamixel
[type info]
0_radian_position_value = 0
min_radian_position_value = -180684
max_radian_position_value = 180684
min_radian = -3.14159265
max_radian = 3.14159265
torque_enable_address = 562
position_d_gain_address =
position_i_gain_address =
position_p_gain_address = 594
goal_position_address = 596
goal_velocity_address = 600
goal_torque_address = 604
present_position_address = 611
present_velocity_address = 615
present_load_address = 621
is_moving_address = 610
[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 | 8 | N
9 | return_delay_time | 1 | RW | EEPROM | 0 | 254 | N
11 | operating_mode | 1 | RW | EEPROM | 0 | 4 | N
13 | homing_offset | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
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
24 | min_voltage_limit | 2 | RW | EEPROM | 0 | 400 | N
26 | acceleration_limit | 4 | RW | EEPROM | 0 | 2147483647 | N
30 | torque_limit | 2 | RW | EEPROM | 0 | 32767 | N
32 | velocity_limit | 4 | RW | EEPROM | 0 | 2147483647 | N
36 | max_position_limit | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
40 | min_position_limit | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
44 | external_port_mod_1 | 1 | RW | EEPROM | 0 | 3 | N
45 | external_port_mod_2 | 1 | RW | EEPROM | 0 | 3 | N
46 | external_port_mod_3 | 1 | RW | EEPROM | 0 | 3 | N
47 | external_port_mod_4 | 1 | RW | EEPROM | 0 | 3 | N
48 | shutdown | 1 | RW | EEPROM | 0 | 255 | N
49 | indirect_address_1 | 2 | RW | EEPROM | 0 | 65535 | N
562 | torque_enable | 1 | RW | RAM | 0 | 1 | N
563 | LED_RED | 1 | RW | RAM | 0 | 255 | N
564 | LED_GREEN | 1 | RW | RAM | 0 | 255 | N
565 | LED_BLUE | 1 | RW | RAM | 0 | 255 | N
586 | velocity_I_gain | 2 | RW | RAM | 0 | 2047 | N
588 | velocity_P_gain | 2 | RW | RAM | 0 | 2047 | N
594 | position_P_gain | 2 | RW | RAM | 0 | 2047 | N
596 | goal_position | 4 | RW | RAM | -2147483648 | 2147483647 | Y
600 | goal_velocity | 4 | RW | RAM | -2147483648 | 2147483647 | Y
604 | goal_torque | 2 | RW | RAM | -32768 | 32767 | Y
606 | goal_acceleration | 4 | RW | RAM | 0 | 2147483647 | N
610 | is_moving | 1 | R | RAM | 0 | 1 | N
611 | present_position | 4 | R | RAM | -2147483648 | 2147483647 | Y
615 | present_velocity | 4 | R | RAM | -2147483648 | 2147483647 | Y
621 | present_current | 2 | R | RAM | -32768 | 32767 | Y
623 | present_voltage | 2 | R | RAM | 0 | 500 | N
625 | present_temperature | 1 | R | RAM | 0 | 200 | N
626 | external_port_data_1 | 2 | RW | RAM | 0 | 4095 | N
628 | external_port_data_2 | 2 | RW | RAM | 0 | 4095 | N
630 | external_port_data_3 | 2 | RW | RAM | 0 | 4095 | N
632 | external_port_data_4 | 2 | RW | RAM | 0 | 4095 | N
634 | indirect_data_1 | 1 | RW | RAM | 0 | 255 | N
890 | registerd_instruction | 1 | R | RAM | 0 | 1 | N
891 | status_return_level | 1 | RW | RAM | 0 | 2 | N
892 | hardware_error_status | 2 | R | RAM | 0 | 31 | N

71
robotis_device/devices/dynamixel/L54-50-S290-R.device Normal file
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[device info]
model_name = L54-50-S290-R
device_type = Dynamixel
[type info]
0_radian_position_value = 0
min_radian_position_value = -103860
max_radian_position_value = 103860
min_radian = -3.14159265
max_radian = 3.14159265
torque_enable_address = 562
position_d_gain_address =
position_i_gain_address =
position_p_gain_address = 594
goal_position_address = 596
goal_velocity_address = 600
goal_torque_address = 604
present_position_address = 611
present_velocity_address = 615
present_load_address = 621
is_moving_address = 610
[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 | 8 | N
9 | return_delay_time | 1 | RW | EEPROM | 0 | 254 | N
11 | operating_mode | 1 | RW | EEPROM | 0 | 4 | N
13 | homing_offset | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
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
24 | min_voltage_limit | 2 | RW | EEPROM | 0 | 400 | N
26 | acceleration_limit | 4 | RW | EEPROM | 0 | 2147483647 | N
30 | torque_limit | 2 | RW | EEPROM | 0 | 32767 | N
32 | velocity_limit | 4 | RW | EEPROM | 0 | 2147483647 | N
36 | max_position_limit | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
40 | min_position_limit | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
44 | external_port_mod_1 | 1 | RW | EEPROM | 0 | 3 | N
45 | external_port_mod_2 | 1 | RW | EEPROM | 0 | 3 | N
46 | external_port_mod_3 | 1 | RW | EEPROM | 0 | 3 | N
47 | external_port_mod_4 | 1 | RW | EEPROM | 0 | 3 | N
48 | shutdown | 1 | RW | EEPROM | 0 | 255 | N
49 | indirect_address_1 | 2 | RW | EEPROM | 0 | 65535 | N
562 | torque_enable | 1 | RW | RAM | 0 | 1 | N
563 | LED_RED | 1 | RW | RAM | 0 | 255 | N
564 | LED_GREEN | 1 | RW | RAM | 0 | 255 | N
565 | LED_BLUE | 1 | RW | RAM | 0 | 255 | N
586 | velocity_I_gain | 2 | RW | RAM | 0 | 2047 | N
588 | velocity_P_gain | 2 | RW | RAM | 0 | 2047 | N
594 | position_P_gain | 2 | RW | RAM | 0 | 2047 | N
596 | goal_position | 4 | RW | RAM | -2147483648 | 2147483647 | Y
600 | goal_velocity | 4 | RW | RAM | -2147483648 | 2147483647 | Y
604 | goal_torque | 2 | RW | RAM | -32768 | 32767 | Y
606 | goal_acceleration | 4 | RW | RAM | 0 | 2147483647 | N
610 | is_moving | 1 | R | RAM | 0 | 1 | N
611 | present_position | 4 | R | RAM | -2147483648 | 2147483647 | Y
615 | present_velocity | 4 | R | RAM | -2147483648 | 2147483647 | Y
621 | present_current | 2 | R | RAM | -32768 | 32767 | Y
623 | present_voltage | 2 | R | RAM | 0 | 500 | N
625 | present_temperature | 1 | R | RAM | 0 | 200 | N
626 | external_port_data_1 | 2 | RW | RAM | 0 | 4095 | N
628 | external_port_data_2 | 2 | RW | RAM | 0 | 4095 | N
630 | external_port_data_3 | 2 | RW | RAM | 0 | 4095 | N
632 | external_port_data_4 | 2 | RW | RAM | 0 | 4095 | N
634 | indirect_data_1 | 1 | RW | RAM | 0 | 255 | N
890 | registerd_instruction | 1 | R | RAM | 0 | 1 | N
891 | status_return_level | 1 | RW | RAM | 0 | 2 | N
892 | hardware_error_status | 2 | R | RAM | 0 | 31 | N

71
robotis_device/devices/dynamixel/L54-50-S500-R.device Normal file
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[device info]
model_name = L54-50-S500-R
device_type = Dynamixel
[type info]
0_radian_position_value = 0
min_radian_position_value = -180684
max_radian_position_value = 180684
min_radian = -3.14159265
max_radian = 3.14159265
torque_enable_address = 562
position_d_gain_address =
position_i_gain_address =
position_p_gain_address = 594
goal_position_address = 596
goal_velocity_address = 600
goal_torque_address = 604
present_position_address = 611
present_velocity_address = 615
present_load_address = 621
is_moving_address = 610
[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 | 8 | N
9 | return_delay_time | 1 | RW | EEPROM | 0 | 254 | N
11 | operating_mode | 1 | RW | EEPROM | 0 | 4 | N
13 | homing_offset | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
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
24 | min_voltage_limit | 2 | RW | EEPROM | 0 | 400 | N
26 | acceleration_limit | 4 | RW | EEPROM | 0 | 2147483647 | N
30 | torque_limit | 2 | RW | EEPROM | 0 | 32767 | N
32 | velocity_limit | 4 | RW | EEPROM | 0 | 2147483647 | N
36 | max_position_limit | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
40 | min_position_limit | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
44 | external_port_mod_1 | 1 | RW | EEPROM | 0 | 3 | N
45 | external_port_mod_2 | 1 | RW | EEPROM | 0 | 3 | N
46 | external_port_mod_3 | 1 | RW | EEPROM | 0 | 3 | N
47 | external_port_mod_4 | 1 | RW | EEPROM | 0 | 3 | N
48 | shutdown | 1 | RW | EEPROM | 0 | 255 | N
49 | indirect_address_1 | 2 | RW | EEPROM | 0 | 65535 | N
562 | torque_enable | 1 | RW | RAM | 0 | 1 | N
563 | LED_RED | 1 | RW | RAM | 0 | 255 | N
564 | LED_GREEN | 1 | RW | RAM | 0 | 255 | N
565 | LED_BLUE | 1 | RW | RAM | 0 | 255 | N
586 | velocity_I_gain | 2 | RW | RAM | 0 | 2047 | N
588 | velocity_P_gain | 2 | RW | RAM | 0 | 2047 | N
594 | position_P_gain | 2 | RW | RAM | 0 | 2047 | N
596 | goal_position | 4 | RW | RAM | -2147483648 | 2147483647 | Y
600 | goal_velocity | 4 | RW | RAM | -2147483648 | 2147483647 | Y
604 | goal_torque | 2 | RW | RAM | -32768 | 32767 | Y
606 | goal_acceleration | 4 | RW | RAM | 0 | 2147483647 | N
610 | is_moving | 1 | R | RAM | 0 | 1 | N
611 | present_position | 4 | R | RAM | -2147483648 | 2147483647 | Y
615 | present_velocity | 4 | R | RAM | -2147483648 | 2147483647 | Y
621 | present_current | 2 | R | RAM | -32768 | 32767 | Y
623 | present_voltage | 2 | R | RAM | 0 | 500 | N
625 | present_temperature | 1 | R | RAM | 0 | 200 | N
626 | external_port_data_1 | 2 | RW | RAM | 0 | 4095 | N
628 | external_port_data_2 | 2 | RW | RAM | 0 | 4095 | N
630 | external_port_data_3 | 2 | RW | RAM | 0 | 4095 | N
632 | external_port_data_4 | 2 | RW | RAM | 0 | 4095 | N
634 | indirect_data_1 | 1 | RW | RAM | 0 | 255 | N
890 | registerd_instruction | 1 | R | RAM | 0 | 1 | N
891 | status_return_level | 1 | RW | RAM | 0 | 2 | N
892 | hardware_error_status | 2 | R | RAM | 0 | 31 | N

71
robotis_device/devices/dynamixel/M42-10-S260-R.device Normal file
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@@ -0,0 +1,71 @@
[device info]
model_name = M42-10-S260-R
device_type = Dynamixel
[type info]
0_radian_position_value = 0
min_radian_position_value = -131584
max_radian_position_value = 131584
min_radian = -3.14159265
max_radian = 3.14159265
torque_enable_address = 562
position_d_gain_address =
position_i_gain_address =
position_p_gain_address = 594
goal_position_address = 596
goal_velocity_address = 600
goal_torque_address = 604
present_position_address = 611
present_velocity_address = 615
present_load_address = 621
is_moving_address = 610
[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 | 8 | N
9 | return_delay_time | 1 | RW | EEPROM | 0 | 254 | N
11 | operating_mode | 1 | RW | EEPROM | 0 | 4 | N
13 | homing_offset | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
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
24 | min_voltage_limit | 2 | RW | EEPROM | 0 | 400 | N
26 | acceleration_limit | 4 | RW | EEPROM | 0 | 2147483647 | N
30 | torque_limit | 2 | RW | EEPROM | 0 | 32767 | N
32 | velocity_limit | 4 | RW | EEPROM | 0 | 2147483647 | N
36 | max_position_limit | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
40 | min_position_limit | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
44 | external_port_mod_1 | 1 | RW | EEPROM | 0 | 3 | N
45 | external_port_mod_2 | 1 | RW | EEPROM | 0 | 3 | N
46 | external_port_mod_3 | 1 | RW | EEPROM | 0 | 3 | N
47 | external_port_mod_4 | 1 | RW | EEPROM | 0 | 3 | N
48 | shutdown | 1 | RW | EEPROM | 0 | 255 | N
49 | indirect_address_1 | 2 | RW | EEPROM | 0 | 65535 | N
562 | torque_enable | 1 | RW | RAM | 0 | 1 | N
563 | LED_RED | 1 | RW | RAM | 0 | 255 | N
564 | LED_GREEN | 1 | RW | RAM | 0 | 255 | N
565 | LED_BLUE | 1 | RW | RAM | 0 | 255 | N
586 | velocity_I_gain | 2 | RW | RAM | 0 | 2047 | N
588 | velocity_P_gain | 2 | RW | RAM | 0 | 2047 | N
594 | position_P_gain | 2 | RW | RAM | 0 | 2047 | N
596 | goal_position | 4 | RW | RAM | -2147483648 | 2147483647 | Y
600 | goal_velocity | 4 | RW | RAM | -2147483648 | 2147483647 | Y
604 | goal_torque | 2 | RW | RAM | -32768 | 32767 | Y
606 | goal_acceleration | 4 | RW | RAM | 0 | 2147483647 | N
610 | is_moving | 1 | R | RAM | 0 | 1 | N
611 | present_position | 4 | R | RAM | -2147483648 | 2147483647 | Y
615 | present_velocity | 4 | R | RAM | -2147483648 | 2147483647 | Y
621 | present_current | 2 | R | RAM | -32768 | 32767 | Y
623 | present_voltage | 2 | R | RAM | 0 | 500 | N
625 | present_temperature | 1 | R | RAM | 0 | 200 | N
626 | external_port_data_1 | 2 | RW | RAM | 0 | 4095 | N
628 | external_port_data_2 | 2 | RW | RAM | 0 | 4095 | N
630 | external_port_data_3 | 2 | RW | RAM | 0 | 4095 | N
632 | external_port_data_4 | 2 | RW | RAM | 0 | 4095 | N
634 | indirect_data_1 | 1 | RW | RAM | 0 | 255 | N
890 | registerd_instruction | 1 | R | RAM | 0 | 1 | N
891 | status_return_level | 1 | RW | RAM | 0 | 2 | N
892 | hardware_error_status | 2 | R | RAM | 0 | 31 | N

71
robotis_device/devices/dynamixel/M54-40-S250-R.device Normal file
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@@ -0,0 +1,71 @@
[device info]
model_name = M54-40-S250-R
device_type = Dynamixel
[type info]
0_radian_position_value = 0
min_radian_position_value = -125700
max_radian_position_value = 125700
min_radian = -3.14159265
max_radian = 3.14159265
torque_enable_address = 562
position_d_gain_address =
position_i_gain_address =
position_p_gain_address = 594
goal_position_address = 596
goal_velocity_address = 600
goal_torque_address = 604
present_position_address = 611
present_velocity_address = 615
present_load_address = 621
is_moving_address = 610
[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 | 8 | N
9 | return_delay_time | 1 | RW | EEPROM | 0 | 254 | N
11 | operating_mode | 1 | RW | EEPROM | 0 | 4 | N
13 | homing_offset | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
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
24 | min_voltage_limit | 2 | RW | EEPROM | 0 | 400 | N
26 | acceleration_limit | 4 | RW | EEPROM | 0 | 2147483647 | N
30 | torque_limit | 2 | RW | EEPROM | 0 | 32767 | N
32 | velocity_limit | 4 | RW | EEPROM | 0 | 2147483647 | N
36 | max_position_limit | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
40 | min_position_limit | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
44 | external_port_mod_1 | 1 | RW | EEPROM | 0 | 3 | N
45 | external_port_mod_2 | 1 | RW | EEPROM | 0 | 3 | N
46 | external_port_mod_3 | 1 | RW | EEPROM | 0 | 3 | N
47 | external_port_mod_4 | 1 | RW | EEPROM | 0 | 3 | N
48 | shutdown | 1 | RW | EEPROM | 0 | 255 | N
49 | indirect_address_1 | 2 | RW | EEPROM | 0 | 65535 | N
562 | torque_enable | 1 | RW | RAM | 0 | 1 | N
563 | LED_RED | 1 | RW | RAM | 0 | 255 | N
564 | LED_GREEN | 1 | RW | RAM | 0 | 255 | N
565 | LED_BLUE | 1 | RW | RAM | 0 | 255 | N
586 | velocity_I_gain | 2 | RW | RAM | 0 | 2047 | N
588 | velocity_P_gain | 2 | RW | RAM | 0 | 2047 | N
594 | position_P_gain | 2 | RW | RAM | 0 | 2047 | N
596 | goal_position | 4 | RW | RAM | -2147483648 | 2147483647 | Y
600 | goal_velocity | 4 | RW | RAM | -2147483648 | 2147483647 | Y
604 | goal_torque | 2 | RW | RAM | -32768 | 32767 | Y
606 | goal_acceleration | 4 | RW | RAM | 0 | 2147483647 | N
610 | is_moving | 1 | R | RAM | 0 | 1 | N
611 | present_position | 4 | R | RAM | -2147483648 | 2147483647 | Y
615 | present_velocity | 4 | R | RAM | -2147483648 | 2147483647 | Y
621 | present_current | 2 | R | RAM | -32768 | 32767 | Y
623 | present_voltage | 2 | R | RAM | 0 | 500 | N
625 | present_temperature | 1 | R | RAM | 0 | 200 | N
626 | external_port_data_1 | 2 | RW | RAM | 0 | 4095 | N
628 | external_port_data_2 | 2 | RW | RAM | 0 | 4095 | N
630 | external_port_data_3 | 2 | RW | RAM | 0 | 4095 | N
632 | external_port_data_4 | 2 | RW | RAM | 0 | 4095 | N
634 | indirect_data_1 | 1 | RW | RAM | 0 | 255 | N
890 | registerd_instruction | 1 | R | RAM | 0 | 1 | N
891 | status_return_level | 1 | RW | RAM | 0 | 2 | N
892 | hardware_error_status | 2 | R | RAM | 0 | 31 | N

71
robotis_device/devices/dynamixel/M54-60-S250-R.device Normal file
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[device info]
model_name = M54-60-S250-R
device_type = Dynamixel
[type info]
0_radian_position_value = 0
min_radian_position_value = -125700
max_radian_position_value = 125700
min_radian = -3.14159265
max_radian = 3.14159265
torque_enable_address = 562
position_d_gain_address =
position_i_gain_address =
position_p_gain_address = 594
goal_position_address = 596
goal_velocity_address = 600
goal_torque_address = 604
present_position_address = 611
present_velocity_address = 615
present_load_address = 621
is_moving_address = 610
[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 | 8 | N
9 | return_delay_time | 1 | RW | EEPROM | 0 | 254 | N
11 | operating_mode | 1 | RW | EEPROM | 0 | 4 | N
13 | homing_offset | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
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
24 | min_voltage_limit | 2 | RW | EEPROM | 0 | 400 | N
26 | acceleration_limit | 4 | RW | EEPROM | 0 | 2147483647 | N
30 | torque_limit | 2 | RW | EEPROM | 0 | 32767 | N
32 | velocity_limit | 4 | RW | EEPROM | 0 | 2147483647 | N
36 | max_position_limit | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
40 | min_position_limit | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
44 | external_port_mod_1 | 1 | RW | EEPROM | 0 | 3 | N
45 | external_port_mod_2 | 1 | RW | EEPROM | 0 | 3 | N
46 | external_port_mod_3 | 1 | RW | EEPROM | 0 | 3 | N
47 | external_port_mod_4 | 1 | RW | EEPROM | 0 | 3 | N
48 | shutdown | 1 | RW | EEPROM | 0 | 255 | N
49 | indirect_address_1 | 2 | RW | EEPROM | 0 | 65535 | N
562 | torque_enable | 1 | RW | RAM | 0 | 1 | N
563 | LED_RED | 1 | RW | RAM | 0 | 255 | N
564 | LED_GREEN | 1 | RW | RAM | 0 | 255 | N
565 | LED_BLUE | 1 | RW | RAM | 0 | 255 | N
586 | velocity_I_gain | 2 | RW | RAM | 0 | 2047 | N
588 | velocity_P_gain | 2 | RW | RAM | 0 | 2047 | N
594 | position_P_gain | 2 | RW | RAM | 0 | 2047 | N
596 | goal_position | 4 | RW | RAM | -2147483648 | 2147483647 | Y
600 | goal_velocity | 4 | RW | RAM | -2147483648 | 2147483647 | Y
604 | goal_torque | 2 | RW | RAM | -32768 | 32767 | Y
606 | goal_acceleration | 4 | RW | RAM | 0 | 2147483647 | N
610 | is_moving | 1 | R | RAM | 0 | 1 | N
611 | present_position | 4 | R | RAM | -2147483648 | 2147483647 | Y
615 | present_velocity | 4 | R | RAM | -2147483648 | 2147483647 | Y
621 | present_current | 2 | R | RAM | -32768 | 32767 | Y
623 | present_voltage | 2 | R | RAM | 0 | 500 | N
625 | present_temperature | 1 | R | RAM | 0 | 200 | N
626 | external_port_data_1 | 2 | RW | RAM | 0 | 4095 | N
628 | external_port_data_2 | 2 | RW | RAM | 0 | 4095 | N
630 | external_port_data_3 | 2 | RW | RAM | 0 | 4095 | N
632 | external_port_data_4 | 2 | RW | RAM | 0 | 4095 | N
634 | indirect_data_1 | 1 | RW | RAM | 0 | 255 | N
890 | registerd_instruction | 1 | R | RAM | 0 | 1 | N
891 | status_return_level | 1 | RW | RAM | 0 | 2 | N
892 | hardware_error_status | 2 | R | RAM | 0 | 31 | N

59
robotis_device/devices/dynamixel/MX-28.device Normal file
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[device info]
model_name = MX-28
device_type = Dynamixel
[type info]
0_radian_position_value = 2048
min_radian_position_value = 0
max_radian_position_value = 4095
min_radian = -3.14159265
max_radian = 3.14159265
torque_enable_address = 24
position_d_gain_address = 26
position_i_gain_address = 27
position_p_gain_address = 28
goal_position_address = 30
goal_velocity_address = 32
goal_torque_address = 34
present_position_address = 36
present_velocity_address = 38
present_load_address = 40
is_moving_address = 46
[control table]
# addr | item name | length | access | memory | min value | max value | signed
0 | model_number | 2 | R | EEPROM | 0 | 65535 | N
2 | version_of_firmware | 1 | R | EEPROM | 0 | 254 | N
3 | ID | 1 | RW | EEPROM | 0 | 252 | N
4 | baudrate | 1 | RW | EEPROM | 0 | 252 | N
5 | return_delay_time | 1 | RW | EEPROM | 0 | 254 | N
6 | CW_angle_limit | 2 | RW | EEPROM | 0 | 4095 | N
8 | CCW_angle_limit | 2 | RW | EEPROM | 0 | 4095 | N
10 | drive_mode | 1 | RW | EEPROM | 0 | 3 | N
11 | max_temperature_limit | 1 | RW | EEPROM | 0 | 99 | N
12 | min_voltage_limit | 1 | RW | EEPROM | 0 | 250 | N
13 | max_voltage_limit | 1 | RW | EEPROM | 0 | 250 | N
14 | max_torque | 2 | RW | EEPROM | 0 | 1023 | N
16 | status_return_level | 1 | RW | EEPROM | 0 | 2 | N
17 | alarm_LED | 1 | RW | EEPROM | 0 | 127 | N
18 | alarm_shutdown | 1 | RW | EEPROM | 0 | 127 | N
20 | multi_turn_offset | 2 | RW | EEPROM | -26624 | 26624 | Y
22 | resolution_dividor | 1 | RW | EEPROM | 1 | 255 | N
24 | torque_enable | 1 | RW | RAM | 0 | 1 | N
25 | LED | 1 | RW | RAM | 0 | 1 | N
26 | position_D_gain | 1 | RW | RAM | 0 | 254 | N
27 | position_I_gain | 1 | RW | RAM | 0 | 254 | N
28 | position_P_gain | 1 | RW | RAM | 0 | 254 | N
30 | goal_position | 2 | RW | RAM | -28672 | 28672 | Y
32 | goal_velocity | 2 | RW | RAM | 0 | 1023 | N
34 | goal_torque | 2 | RW | RAM | 0 | 1023 | N
36 | present_position | 2 | R | RAM | 0 | 4095 | N
38 | present_velocity | 2 | R | RAM | 0 | 2048 | N
40 | present_load | 2 | R | RAM | 0 | 2048 | N
42 | present_voltage | 1 | R | RAM | 50 | 250 | N
43 | present_temperature | 1 | R | RAM | 0 | 99 | N
44 | registered_instruction | 1 | R | RAM | 0 | 1 | N
46 | is_moving | 1 | R | RAM | 0 | 1 | N
47 | EEPROM_lock | 1 | RW | RAM | 0 | 1 | N
48 | punch | 2 | RW | RAM | 0 | 1023 | N
73 | goal_acceleration | 1 | RW | RAM | 0 | 254 | N

52
robotis_device/include/robotis_device/ControlTableItem.h Normal file
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/*
* ControlTableItem.h
*
* Created on: 2015. 12. 16.
* Author: zerom
*/
#ifndef ROBOTIS_FRAMEWORK_ROBOTIS_DEVICE_INCLUDE_DEVICE_CONTROLTABLEITEM_H_
#define ROBOTIS_FRAMEWORK_ROBOTIS_DEVICE_INCLUDE_DEVICE_CONTROLTABLEITEM_H_
#include <robotis_framework_common/RobotisDef.h>
namespace ROBOTIS
{
enum ACCESS_TYPE {
READ,
READ_WRITE
};
enum MEMORY_TYPE {
EEPROM,
RAM
};
class ControlTableItem
{
public:
UINT16_T address;
ACCESS_TYPE access_type;
MEMORY_TYPE memory_type;
UINT8_T data_length;
INT32_T data_min_value;
INT32_T data_max_value;
bool is_signed;
ControlTableItem()
: address(0),
access_type(READ),
memory_type(RAM),
data_length(0),
data_min_value(0),
data_max_value(0),
is_signed(false)
{ }
};
}
#endif /* ROBOTIS_FRAMEWORK_ROBOTIS_DEVICE_INCLUDE_DEVICE_CONTROLTABLEITEM_H_ */

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robotis_device/include/robotis_device/Dynamixel.h Normal file
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/*
* Dynamixel.h
*
* Created on: 2015. 12. 8.
* Author: zerom
*/
#ifndef ROBOTIS_FRAMEWORK_ROBOTIS_CONTROLLER_INCLUDE_DEVICE_DYNAMIXEL_H_
#define ROBOTIS_FRAMEWORK_ROBOTIS_CONTROLLER_INCLUDE_DEVICE_DYNAMIXEL_H_
#include <map>
#include <string>
#include "DynamixelState.h"
#include "ControlTableItem.h"
namespace ROBOTIS
{
class Dynamixel
{
public:
UINT8_T id;
std::string model_name;
float protocol_version;
std::map<std::string, ControlTableItem *> ctrl_table; // string: item name
std::string port_name;
std::string ctrl_module_name;
DynamixelState *dxl_state;
INT32_T zero_radian_position_value;
INT32_T min_radian_position_value;
INT32_T max_radian_position_value;
double min_radian;
double max_radian;
UINT16_T torque_enable_address;
UINT16_T position_d_gain_address;
UINT16_T position_i_gain_address;
UINT16_T position_p_gain_address;
UINT16_T goal_position_address;
UINT16_T goal_velocity_address;
UINT16_T goal_torque_address;
UINT16_T present_position_address;
UINT16_T present_velocity_address;
UINT16_T present_load_address;
UINT16_T is_moving_address;
Dynamixel(int id, std::string model_name, float protocol_version);
double ConvertValue2Radian(int32_t value) { return value * max_radian / max_radian_position_value; }
INT32_T ConvertRadian2Value(double radian) { return radian * max_radian_position_value / max_radian; }
};
}
#endif /* ROBOTIS_FRAMEWORK_ROBOTIS_CONTROLLER_INCLUDE_DEVICE_DYNAMIXEL_H_ */

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robotis_device/include/robotis_device/DynamixelState.h Normal file
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/*
* DynamixelState.h
*
* Created on: 2015. 12. 8.
* Author: zerom
*/
#ifndef ROBOTIS_FRAMEWORK_ROBOTIS_CONTROLLER_INCLUDE_DEVICE_DYNAMIXELSTATE_H_
#define ROBOTIS_FRAMEWORK_ROBOTIS_CONTROLLER_INCLUDE_DEVICE_DYNAMIXELSTATE_H_
#include <stdint.h>
#include <robotis_framework_common/RobotisDef.h>
namespace ROBOTIS
{
class TimeStamp {
public:
long sec;
long nsec;
TimeStamp(long sec, long nsec) : sec(sec), nsec(nsec) { }
};
class DynamixelState
{
public:
TimeStamp update_time_stamp;
bool torque_enable;
UINT16_T position_d_gain;
UINT16_T position_i_gain;
UINT16_T position_p_gain;
UINT16_T velocity_d_gain;
UINT16_T velocity_i_gain;
UINT16_T velocity_p_gain;
double goal_position;
double goal_velocity;
double goal_torque;
double present_position;
double present_velocity;
double present_load;
bool is_moving;
UINT16_T ext_port_data[4];
double position_offset;
DynamixelState()
: update_time_stamp(0, 0),
torque_enable(false),
position_d_gain(0),
position_i_gain(0),
position_p_gain(0),
velocity_d_gain(0),
velocity_i_gain(0),
velocity_p_gain(0),
goal_position(0.0),
goal_velocity(0.0),
goal_torque(0.0),
present_position(0.0),
present_velocity(0.0),
present_load(0.0),
is_moving(false),
position_offset(0.0)
{
ext_port_data[0] = 2048;
ext_port_data[1] = 2048;
ext_port_data[2] = 2048;
ext_port_data[3] = 2048;
}
};
}
#endif /* ROBOTIS_FRAMEWORK_ROBOTIS_CONTROLLER_INCLUDE_DEVICE_DYNAMIXELSTATE_H_ */

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/*
* Robot.h
*
* Created on: 2015. 12. 11.
* Author: zerom
*/
#ifndef ROBOTIS_FRAMEWORK_ROBOTIS_DEVICE_INCLUDE_DEVICE_ROBOT_H_
#define ROBOTIS_FRAMEWORK_ROBOTIS_DEVICE_INCLUDE_DEVICE_ROBOT_H_
#include <vector>
#include "Sensor.h"
#include "Dynamixel.h"
#include "dynamixel_sdk/PortHandler.h"
namespace ROBOTIS
{
class Robot
{
public:
std::map<std::string, PortHandler *> ports; // string: port name
std::map<std::string, Dynamixel *> dxls; // string: joint name
std::map<std::string, Sensor *> sensors; // string: sensor name
Robot(std::string robot_file_path, std::string dev_desc_dir_path);
Dynamixel *getDynamixel(std::string path, int id, std::string port, float protocol_version);
};
}
#endif /* ROBOTIS_FRAMEWORK_ROBOTIS_DEVICE_INCLUDE_DEVICE_ROBOT_H_ */

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robotis_device/include/robotis_device/Sensor.h Normal file
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/*
* Sensor.h
*
* Created on: 2015. 12. 16.
* Author: zerom
*/
#ifndef ROBOTIS_FRAMEWORK_ROBOTIS_DEVICE_INCLUDE_DEVICE_SENSOR_H_
#define ROBOTIS_FRAMEWORK_ROBOTIS_DEVICE_INCLUDE_DEVICE_SENSOR_H_
#include <map>
#include <string>
#include <stdint.h>
#include "ControlTableItem.h"
namespace ROBOTIS
{
class Sensor
{
public:
UINT8_T id;
std::string model_name;
float protocol_version;
std::map<UINT16_T, ControlTableItem *> ctrl_table;
Sensor(int id, std::string model_name, float protocol_version);
};
}
#endif /* ROBOTIS_FRAMEWORK_ROBOTIS_DEVICE_INCLUDE_DEVICE_SENSOR_H_ */

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robotis_device/package.xml Normal file
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<?xml version="1.0"?>
<package>
<name>robotis_device</name>
<version>0.1.0</version>
<description>The robotis_device package</description>
<maintainer email="zerom@robotis.com">robotis</maintainer>
<license>GPLv2</license>
<!-- <url type="website">http://wiki.ros.org/robotis_device</url> -->
<author email="zerom@robotis.com">robotis</author>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>dynamixel_sdk</build_depend>
<build_depend>robotis_framework_common</build_depend>
<run_depend>roscpp</run_depend>
<run_depend>rospy</run_depend>
<run_depend>dynamixel_sdk</run_depend>
<export>
</export>
</package>

37
robotis_device/src/robotis_device/Dynamixel.cpp Normal file
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/*
* Dynamixel.cpp
*
* Created on: 2015. 12. 8.
* Author: zerom
*/
#include "../include/robotis_device/Dynamixel.h"
using namespace ROBOTIS;
Dynamixel::Dynamixel(int id, std::string model_name, float protocol_version)
: id(id),
model_name(model_name),
port_name(""),
ctrl_module_name("none"),
protocol_version(protocol_version),
zero_radian_position_value(0),
min_radian_position_value(0),
max_radian_position_value(0),
min_radian(-3.14),
max_radian(3.14),
torque_enable_address(0),
position_d_gain_address(0),
position_i_gain_address(0),
position_p_gain_address(0),
goal_position_address(0),
goal_velocity_address(0),
goal_torque_address(0),
present_position_address(0),
present_velocity_address(0),
present_load_address(0),
is_moving_address(0)
{
ctrl_table.clear();
dxl_state = new DynamixelState();
}

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robotis_device/src/robotis_device/Robot.cpp Normal file
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/*
* Robot.cpp
*
* Created on: 2015. 12. 11.
* Author: zerom
*/
#include <fstream>
#include <iostream>
#include <algorithm>
#include "../include/robotis_device/Robot.h"
using namespace ROBOTIS;
static inline std::string &ltrim(std::string &s) {
s.erase(s.begin(), std::find_if(s.begin(), s.end(), std::not1(std::ptr_fun<int, int>(std::isspace))));
return s;
}
static inline std::string &rtrim(std::string &s) {
s.erase(std::find_if(s.rbegin(), s.rend(), std::not1(std::ptr_fun<int, int>(std::isspace))).base(), s.end());
return s;
}
static inline std::string &trim(std::string &s) {
return ltrim(rtrim(s));
}
static inline std::vector<std::string> split(const std::string &text, char sep) {
std::vector<std::string> tokens;
std::size_t start = 0, end = 0;
while((end = text.find(sep, start)) != (std::string::npos)) {
tokens.push_back(text.substr(start, end - start));
trim(tokens.back());
start = end + 1;
}
tokens.push_back(text.substr(start));
trim(tokens.back());
return tokens;
}
Robot::Robot(std::string robot_file_path, std::string dev_desc_dir_path)
{
if(dev_desc_dir_path.compare(dev_desc_dir_path.size()-1, 1, "/") != 0)
dev_desc_dir_path += "/";
std::ifstream file(robot_file_path.c_str());
if(file.is_open())
{
std::string session = "";
std::string input_str;
while(!file.eof())
{
std::getline(file, input_str);
// remove comment ( # )
std::size_t pos = input_str.find("#");
if(pos != std::string::npos)
input_str = input_str.substr(0, pos);
// trim
input_str = trim(input_str);
// find session
if(!input_str.compare(0, 1, "[") && !input_str.compare(input_str.size()-1, 1, "]"))
{
input_str = input_str.substr(1, input_str.size()-2);
std::transform(input_str.begin(), input_str.end(), input_str.begin(), ::tolower);
session = trim(input_str);
continue;
}
if(session == "port info")
{
std::vector<std::string> tokens = split(input_str, '|');
if(tokens.size() != 2)
continue;
std::cout << tokens[0] << " added. (baudrate: " << tokens[1] << ")" << std::endl;
ports[tokens[0]] = (PortHandler*)PortHandler::GetPortHandler(tokens[0].c_str());
bool _port_result = ports[tokens[0]]->SetBaudRate(std::atoi(tokens[1].c_str()));
if(_port_result == false)
exit(-1);
}
else if(session == "device info")
{
std::vector<std::string> tokens = split(input_str, '|');
if(tokens.size() != 6)
continue;
if(tokens[0] == "dynamixel")
{
std::string _file_path = dev_desc_dir_path + tokens[0] + "/" + tokens[3] + ".device";
int _id = std::atoi(tokens[2].c_str());
std::string _port = tokens[1];
float _protocol = std::atof(tokens[4].c_str());
std::string _dev_name = tokens[5];
dxls[_dev_name] = getDynamixel(_file_path, _id, _port, _protocol);
}
}
}
file.close();
}
else
{
std::cout << "Unable to open file : " + robot_file_path << std::endl;
}
}
Dynamixel *Robot::getDynamixel(std::string path, int id, std::string port, float protocol_version)
{
Dynamixel *dxl;
// load file model_name.device
std::ifstream file(path.c_str());
if(file.is_open())
{
std::string session = "";
std::string input_str;
while(!file.eof())
{
std::getline(file, input_str);
// remove comment ( # )
std::size_t pos = input_str.find("#");
if(pos != std::string::npos)
input_str = input_str.substr(0, pos);
// trim
input_str = trim(input_str);
if(input_str == "")
continue;
// find session
if(!input_str.compare(0, 1, "[") && !input_str.compare(input_str.size()-1, 1, "]"))
{
input_str = input_str.substr(1, input_str.size()-2);
std::transform(input_str.begin(), input_str.end(), input_str.begin(), ::tolower);
session = trim(input_str);
continue;
}
if(session == "device info")
{
std::vector<std::string> tokens = split(input_str, '=');
if(tokens.size() != 2)
continue;
if(tokens[0] == "model_name")
dxl = new Dynamixel(id, tokens[1], protocol_version);
}
else if(session == "type info")
{
std::vector<std::string> tokens = split(input_str, '=');
if(tokens.size() != 2)
continue;
if(tokens[0] == "0_radian_position_value")
dxl->zero_radian_position_value = std::atoi(tokens[1].c_str());
else if(tokens[0] == "min_radian_position_value")
dxl->min_radian_position_value = std::atoi(tokens[1].c_str());
else if(tokens[0] == "max_radian_position_value")
dxl->max_radian_position_value = std::atoi(tokens[1].c_str());
else if(tokens[0] == "min_radian")
dxl->min_radian = std::atof(tokens[1].c_str());
else if(tokens[0] == "max_radian")
dxl->max_radian = std::atof(tokens[1].c_str());
else if(tokens[0] == "torque_enable_address")
dxl->torque_enable_address = std::atoi(tokens[1].c_str());
else if(tokens[0] == "position_d_gain_address")
dxl->position_d_gain_address = std::atoi(tokens[1].c_str());
else if(tokens[0] == "position_i_gain_address")
dxl->position_i_gain_address = std::atoi(tokens[1].c_str());
else if(tokens[0] == "position_p_gain_address")
dxl->position_p_gain_address = std::atoi(tokens[1].c_str());
else if(tokens[0] == "goal_position_address")
dxl->goal_position_address = std::atoi(tokens[1].c_str());
else if(tokens[0] == "goal_velocity_address")
dxl->goal_velocity_address = std::atoi(tokens[1].c_str());
else if(tokens[0] == "goal_torque_address")
dxl->goal_torque_address = std::atoi(tokens[1].c_str());
else if(tokens[0] == "present_position_address")
dxl->present_position_address = std::atoi(tokens[1].c_str());
else if(tokens[0] == "present_velocity_address")
dxl->present_velocity_address = std::atoi(tokens[1].c_str());
else if(tokens[0] == "present_load_address")
dxl->present_load_address = std::atoi(tokens[1].c_str());
else if(tokens[0] == "is_moving_address")
dxl->is_moving_address = std::atoi(tokens[1].c_str());
}
else if(session == "control table")
{
std::vector<std::string> tokens = split(input_str, '|');
if(tokens.size() != 8)
continue;
ControlTableItem *item = new ControlTableItem();
item->address = std::atoi(tokens[0].c_str());
item->data_length = std::atoi(tokens[2].c_str());
if(tokens[3] == "R")
item->access_type = READ;
else if(tokens[3] == "RW")
item->access_type = READ_WRITE;
if(tokens[4] == "EEPROM")
item->memory_type = EEPROM;
else if(tokens[4] == "RAM")
item->memory_type = RAM;
item->data_min_value = std::atol(tokens[5].c_str());
item->data_max_value = std::atol(tokens[6].c_str());
if(tokens[7] == "Y")
item->is_signed = true;
else if(tokens[7] == "N")
item->is_signed = false;
dxl->ctrl_table[tokens[1]] = item;
}
}
dxl->port_name = port;
fprintf(stderr, "(%s) [ID:%3d] %14s added. \n", port.c_str(), dxl->id, dxl->model_name.c_str());
//std::cout << "[ID:" << (int)(dxl->id) << "] " << dxl->model_name << " added. (" << port << ")" << std::endl;
file.close();
}
else
std::cout << "Unable to open file : " + path << std::endl;
return dxl;
}