Low level API¶

Instructions Packets¶

Abstract class (InstructionPacket)¶

For details about instructions, see Robotis’ documentation for protocol 1 and protocol 2.

template <class Protocol>

class dynamixel::InstructionPacket¶

Abstract class for instructions

See: Robotis’ documentation for protocol1 and protocol2

Public Functions

InstructionPacket(typename Protocol::id_t id, typename Protocol::instr_t instr, const std::vector<uint8_t> &parameters)¶

InstructionPacket(typename Protocol::id_t id, typename Protocol::instr_t instr)¶

size_t size() const¶

uint8_t operator[](size_t pos) const¶

const uint8_t *data() const¶

Instructions¶

group instructions

template <class T>
class Action¶: #include <dynamixel/instructions/action.hpp>
Inherits from dynamixel::InstructionPacket< T >

template <class T>
class FactoryReset¶: #include <dynamixel/instructions/factory_reset.hpp>
Inherits from dynamixel::InstructionPacket< T >

template <class T>
class Ping¶: #include <dynamixel/instructions/ping.hpp>
Inherits from dynamixel::InstructionPacket< T >

template <class T>
class Read¶: #include <dynamixel/instructions/read.hpp>
Inherits from dynamixel::InstructionPacket< T >

template <class T>
class Reboot¶: #include <dynamixel/instructions/reboot.hpp>
Inherits from dynamixel::InstructionPacket< T >

template <class T>
class RegWrite¶: #include <dynamixel/instructions/reg_write.hpp>
Inherits from dynamixel::InstructionPacket< T >

template <class T>
class SyncWrite¶: #include <dynamixel/instructions/sync_write.hpp>
Inherits from dynamixel::InstructionPacket< T >

template <class T>
class Write¶: #include <dynamixel/instructions/write.hpp>
Inherits from dynamixel::InstructionPacket< T >

Status packets (StatusPacket)¶

template <class Protocol>

class dynamixel::StatusPacket¶

This class represents packets that are received on the bus.

See: Protocol1: http://support.robotis.com/en/product/actuator/dynamixel/communication/dxl_packet.htm#Status_Packet
See: Protocol2: http://support.robotis.com/en/product/actuator/dynamixel_pro/communication/instruction_status_packet.htm

Public Types

typedef using dynamixel::StatusPacket< Protocol >::DecodeState = typename Protocol::DecodeState

Public Functions

StatusPacket()¶

bool valid() const¶

Protocol::id_t id() const¶

const std::vector<uint8_t> &parameters() const¶

DecodeState decode_packet(const std::vector<uint8_t> &packet, bool report_bad_packet = false)¶

std::ostream &print(std::ostream &os) const¶

Errors¶

Abstract class (Error)¶

All errors derive from dynamixel::error::Error:

class dynamixel::errors::Error¶

Abstract class for dynamixel errors

Subclassed by dynamixel::errors::BadPacket, dynamixel::errors::CrcError, dynamixel::errors::ServoLimitError, dynamixel::errors::StatusError, dynamixel::errors::UnpackError

Public Functions

Error()¶

Error(const char *msg)¶

Error(const std::string &msg)¶

const std::string &msg() const¶

virtual std::ostream &print(std::ostream &os) const¶

Error classes¶

group errors

class CrcError¶

#include <dynamixel/errors/crc_error.hpp>

Triggered when the expected checksum and the received checksum do not match.

Inherits from dynamixel::errors::Error

class ServoLimitError¶: #include <dynamixel/errors/servo_limit_error.hpp>
Inherits from dynamixel::errors::Error

class StatusError¶: #include <dynamixel/errors/status_error.hpp>
Inherits from dynamixel::errors::Error

class UnpackError¶: #include <dynamixel/errors/unpack_error.hpp>
Inherits from dynamixel::errors::Error