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Dynamixel Easy SDK Reference
- This section provides a reference for the main classes and methods available in the Dynamixel API.
Connector Class
Connector Class
| Return Type | Method | Description |
|---|---|---|
| — | Connector(const std::string & port_name, int baud_rate) | Initializes the connector. |
| std::unique_ptr |
createMotor(uint8_t id) | Returns a Motor instance for the specified ID. |
| std::vector<std::unique_ptr |
createAllMotors(int start_id = 0, int end_id = 252) | Returns a vector of all Motor instances within the given ID range. |
| std::unique_ptr |
createGroupExecutor() | Closes the communication port. |
| PortHandler * | getPortHandler() const | Returns the underlying PortHandler instance. |
| PacketHandler * | getPacketHandler() const | Returns the underlying PacketHandler instance. |
Motor Class
Motor Class
| Return Type | Method | Description |
|---|---|---|
| Result<void, DxlError> | enableTorque() | Enables the motor torque. |
| Result<void, DxlError> | disableTorque() | Disables the motor torque. |
| Result<void, DxlError> | setGoalPosition(uint32_t position) | Sets the target position for the motor. |
| Result<void, DxlError> | setGoalVelocity(uint32_t velocity) | Sets the target velocity for the motor. |
| Result<void, DxlError> | setGoalCurrent(int16_t current) | Sets the target current for the motor. |
| Result<void, DxlError> | setGoalPWM(int16_t pwm) | Sets the target PWM value for the motor. |
| Result<void, DxlError> | LEDOn() | Turns on the motor LED. |
| Result<void, DxlError> | LEDOff() | Turns off the motor LED. |
| Result<uint16_t, DxlError> | ping() | Pings the motor and returns its model number. |
| Result<uint8_t, DxlError> | isTorqueOn() | Returns whether the torque is currently enabled. |
| Result<uint8_t, DxlError> | isLEDOn() | Returns whether the LED is currently on. |
| Result<int32_t, DxlError> | getPresentPosition() | Reads the current position of the motor. |
| Result<int32_t, DxlError> | getPresentVelocity() | Reads the current velocity of the motor. |
| Result<uint32_t, DxlError> | getMaxPositionLimit() | Reads the maximum position limit from the motor. |
| Result<uint32_t, DxlError> | getMinPositionLimit() | Reads the minimum position limit from the motor. |
| Result<uint32_t, DxlError> | getVelocityLimit() | Reads the velocity limit of the motor. |
| Result<uint16_t, DxlError> | getCurrentLimit() | Reads the current limit of the motor. |
| Result<uint16_t, DxlError> | getPWMLimit() | Reads the PWM limit of the motor. |
| Result<void, DxlError> | changeID(uint8_t new_id) | Changes the motor ID to a new value. |
| Result<void, DxlError> | changeBaudRate(int new_baud_rate) | Changes the motor communication baud rate. |
| Result<void, DxlError> | setOperatingMode(OperatingMode mode) | Sets the motor to the specified operating mode. |
| Result<void, DxlError> | setProfileConfiguration(ProfileConfiguration config) | Configures the motor for time-based profile mode. |
| Result<void, DxlError> | setDirection(Direction direction) | Sets the motor rotation direction to the specified direction. |
| Result<void, DxlError> | setPositionPGain(uint16_t p_gain) | Sets the proportional gain for position control. |
| Result<void, DxlError> | setPositionIGain(uint16_t i_gain) | Sets the integral gain for position control. |
| Result<void, DxlError> | setPositionDGain(uint16_t d_gain) | Sets the derivative gain for position control. |
| Result<void, DxlError> | setVelocityPGain(uint16_t p_gain) | Sets the proportional gain for velocity control. |
| Result<void, DxlError> | setVelocityIGain(uint16_t i_gain) | Sets the integral gain for velocity control. |
| Result<void, DxlError> | setHomingOffset(int32_t offset) | Sets the homing offset for the motor. |
| Result<void, DxlError> | setMaxPositionLimit(uint32_t limit) | Sets the maximum position limit for the motor. |
| Result<void, DxlError> | setMinPositionLimit(uint32_t limit) | Sets the minimum position limit for the motor. |
| Result<void, DxlError> | setVelocityLimit(uint32_t limit) | Sets the velocity limit for the motor. |
| Result<void, DxlError> | setCurrentLimit(uint16_t limit) | Sets the current limit for the motor. |
| Result<void, DxlError> | setPWMLimit(uint16_t limit) | Sets the PWM limit for the motor. |
| Result<void, DxlError> | reboot() | Reboots the motor. |
| Result<void, DxlError> | factoryResetAll() | Resets the motor to factory defaults (all settings). |
| Result<void, DxlError> | factoryResetExceptID() | Resets all settings except the motor ID. |
| Result<void, DxlError> | factoryResetExceptIDAndBaudRate() | Resets all settings except ID and baud rate. |
| Result<StagedCommand, DxlError> | stageEnableTorque() | Stages a command to enable torque for group execution. |
| Result<StagedCommand, DxlError> | stageDisableTorque() | Stages a command to disable torque for group execution. |
| Result<StagedCommand, DxlError> | stageSetGoalPosition(uint32_t position) | Stages a command to set the goal position for group execution. |
| Result<StagedCommand, DxlError> | stageSetGoalVelocity(uint32_t velocity) | Stages a command to set the goal velocity for group execution. |
| Result<StagedCommand, DxlError> | stageLEDOn() | Stages a command to turn on the LED for group execution. |
| Result<StagedCommand, DxlError> | stageLEDOff() | Stages a command to turn off the LED for group execution. |
| Result<StagedCommand, DxlError> | stageIsTorqueOn() | Stages a command to read the torque status for group execution. |
| Result<StagedCommand, DxlError> | stageIsLEDOn() | Stages a command to read the LED status for group execution. |
| Result<StagedCommand, DxlError> | stageGetPresentPosition() | Stages a command to read the present position for group execution. |
| Result<StagedCommand, DxlError> | stageGetPresentVelocity() | Stages a command to read the present velocity for group execution. |
| uint8_t | getID() const | Returns the motor ID. |
| uint16_t | getModelNumber() const | Returns the motor model number. |
| std::string | getModelName() const | Returns the motor model name. |
Enum Class
Motor::OperatingMode
| Operating Mode | value |
|---|---|
| Position | 3 |
| Velocity | 1 |
| Current | 0 |
Motor::ProfileConfiguration
| Profile Configuration | value |
|---|---|
| Time-based | 1 |
| Velocity-based | 0 |
Motor::Direction
| Direction | value |
|---|---|
| NORMAL | 0 |
| REVERSE | 1 |
Group Executor
GroupExecutor Class
| Return Type | Method | Description |
|---|---|---|
| void | addCmd(StagedCommand cmd) | Adds a command to the group excutor. |
| void | addCmd(Result<StagedCommand, DxlError> result) | Adds a command to the group excutor. |
| Result<void, DxlError> | executeWrite() | Executes the write operations staged in the list. It automatically determines whether to use Bulk or Sync Write based on the command list and sends the corresponding packet. |
| Result<std::vector<Result<int32_t, DxlError>, DxlError» | executeRead() | Executes the read operations staged in the list. It automatically determines whether to use Bulk or Sync Read based on the command list and sends the corresponding packet. |
| void | clearStagedWriteCommands() | Clears all staged write commands. |
| void | clearStagedReadCommands() | Clears all staged read commands. |
| std::vector |
getStagedWriteCommands() | Returns the list of staged write commands. |
| std::vector |
getStagedReadCommands() | Returns the list of staged read commands. |
Dynamixel Error
Result Class
Result Class
| Return Type | Function | Description |
|---|---|---|
| T | value() const | Returns the contained value. |
| E | error() const | Returns the contained error. |
| bool | isSuccess() const | Returns true if the result is Success, false if Failure. |
DxlError Enum
DxlError Enum
| DxlError | Value | Description |
|---|---|---|
| SDK_COMM_SUCCESS | 0 | tx or rx packet communication success |
| SDK_COMM_PORT_BUSY | -1000 | Port is busy (in use) |
| SDK_COMM_TX_FAIL | -1001 | Failed transmit instruction packet |
| SDK_COMM_RX_FAIL | -1002 | Failed get status packet |
| SDK_COMM_TX_ERROR | -2000 | Incorrect instruction packet |
| SDK_COMM_RX_WAITING | -3000 | Now receiving status packet |
| SDK_COMM_RX_TIMEOUT | -3001 | There is no status packet |
| SDK_COMM_RX_CORRUPT | -3002 | Incorrect status packet |
| SDK_COMM_NOT_AVAILABLE | -9000 | |
| SDK_ERRNUM_RESULT_FAIL | 1 | Failed to process the instruction packet |
| SDK_ERRNUM_INSTRUCTION | 2 | Invalid instruction |
| SDK_ERRNUM_CRC | 3 | CRC error |
| SDK_ERRNUM_DATA_RANGE | 4 | Data out of range |
| SDK_ERRNUM_DATA_LENGTH | 5 | Invalid data length |
| SDK_ERRNUM_DATA_LIMIT | 6 | Data limit exceeded |
| SDK_ERRNUM_ACCESS | 7 | Access denied |
| API_FUNCTION_NOT_SUPPORTED | 11 | The Dynamixel API does not support this motor model |
| EASY_SDK_MOTOR_TORQUE_OFF | 12 | Motor torque is off |
| EASY_SDK_OPERATING_MODE_MISMATCH | 13 | Operating mode is mismatched |
| API_ADD_PARAM_FAIL | 21 | Failed to add parameter |
| API_COMMAND_IS_EMPTY | 22 | Command list is empty |
| API_DUPLICATE_ID | 23 | Duplicate ID in staged commands |
| API_FAIL_TO_GET_DATA | 24 | Failed to get data from motor |
Global Function
| Return Type | Function | Description |
|---|---|---|
| std::string | getErrorMessage(DxlError error) | Returns DxlError as a human-readable string. |