BRSRI/bellande_humanoid_robot_intelligence_control_system_framework
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Merge pull request #56 from ROBOTIS-GIT/master

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merge for sync kinetic-devel and master branch
This commit is contained in:
Pyo
2018-03-20 15:00:37 +09:00
committed by GitHub
parent 10172c2e34 d7161f1033
commit d9793f1ac3
2 changed files with 74 additions and 1 deletions
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2
robotis_controller/CMakeLists.txt
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@@ -22,7 +22,7 @@ find_package(catkin REQUIRED COMPONENTS
)
find_package(PkgConfig REQUIRED)
pkg_check_modules(YAML_CPP REQUIRED yaml-cpp)
pkg_check_modules(yaml_cpp yaml-cpp REQUIRED)
################################################################################
# Declare ROS messages, services and actions

73
robotis_device/devices/dynamixel/RH-P12-RN.device Executable file
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@@ -0,0 +1,73 @@
[device info]
model_name = RH-P12-RN
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_p_gain_item_name =
[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 | current_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
590 | position_d_gain | 2 | RW | RAM | 0 | 2047 | N
592 | position_i_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_current | 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