BRSRI/bellande_humanoid_robot_intelligence_control_system_framework
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Merge pull request #37 from ROBOTIS-GIT/develop

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add OpenCR device file
This commit is contained in:
ROBOTIS-zerom
2017-04-13 11:03:14 +09:00
committed by GitHub
parent 3f64c075fa 35af44be12
commit fed08fb144
1 changed files with 30 additions and 0 deletions
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30
robotis_device/devices/sensor/OPEN-CR.device Normal file
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[device info]
model_name = OPEN-CR
device_type = sensor
[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
16 | status_return_level | 1 | RW | EEPROM | 0 | 2 | N
24 | torque_enable | 1 | RW | RAM | 0 | 1 | N
25 | LED | 1 | RW | RAM | 0 | 7 | N
26 | LED_RGB | 2 | RW | RAM | 0 | 32767 | N
28 | buzzer | 2 | RW | RAM | 0 | 65535 | N
30 | button | 1 | R | RAM | 0 | 15 | N
31 | present_voltage | 1 | R | RAM | 50 | 250 | N
32 | gyro_x | 2 | R | RAM | -32800 | 32800 | Y
34 | gyro_y | 2 | R | RAM | -32800 | 32800 | Y
36 | gyro_z | 2 | R | RAM | -32800 | 32800 | Y
38 | acc_x | 2 | R | RAM | -32768 | 32768 | Y
40 | acc_y | 2 | R | RAM | -32768 | 32768 | Y
42 | acc_z | 2 | R | RAM | -32768 | 32768 | Y
44 | roll | 2 | R | RAM | 0 | 4096 | N
46 | pitch | 2 | R | RAM | 0 | 4096 | N
48 | yaw | 2 | R | RAM | 0 | 4096 | N
50 | imu_control | 1 | RW | RAM | 0 | 255 | N