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Motor Class Reference
- Motor class represents a DYNAMIXEL motor and provides methods to control and monitor its state, including setting goals, reading status, and configuring parameters.
Motor Class
| Method | Return Type | Description |
|---|---|---|
| Motor(motor_id: int, model_number: int, connector) | - | Initializes the Motor instance. |
| enableTorque() | - | Enables the motor torque. |
| disableTorque() | - | Disables the motor torque. |
| setGoalPosition(position: int) | - | Sets the motor position. |
| setGoalVelocity(velocity: int) | - | Sets the motor velocity. |
| setGoalCurrent(current: int) | - | Sets the motor current. |
| setGoalPWM(pwm: int) | - | Sets the motor PWM. |
| LEDOn() | - | Turns the motor LED on. |
| LEDOff() | - | Turns the motor LED off. |
| ping() | - | Pings the motor. |
| isTorqueOn() | Int | Checks if the motor torque is enabled. |
| isLEDOn() | Int | Checks if the motor LED is enabled. |
| getPresentPosition() | Int | Gets the current motor position. |
| getPresentVelocity() | Int | Gets the current motor velocity. |
| getPresentCurrent() | Int | Gets the current motor current. |
| getPresentPWM() | Int | Gets the current motor PWM. |
| getMaxPositionLimit() | Int | Gets the maximum position limit of the motor. |
| getMinPositionLimit() | Int | Gets the minimum position limit of the motor. |
| getVelocityLimit() | Int | Gets the velocity limit of the motor. |
| getCurrentLimit() | Int | Gets the current limit of the motor. |
| getPWMLimit() | Int | Gets the PWM limit of the motor. |
| getOperatingMode() | OperatingMode | Gets the operating mode of the motor. |
| changeID(new_id: int) | - | Changes the ID of the motor. |
| setOperatingMode(mode: OperatingMode) | - | Sets the operating mode of the motor. |
| setProfileConfiguration(config: ProfileConfiguration) | - | Sets the profile configuration of the motor. |
| setDirection(direction: Direction) | - | Sets the direction of the motor. |
| setPositionPGain(value: int) | - | Sets the position P gain of the motor. |
| setPositionIGain(value: int) | - | Sets the position I gain of the motor. |
| setPositionDGain(value: int) | - | Sets the position D gain of the motor. |
| setVelocityPGain(value: int) | - | Sets the velocity P gain of the motor. |
| setVelocityIGain(value: int) | - | Sets the velocity I gain of the motor. |
| setHomingOffset(offset: int) | - | Sets the homing offset of the motor. |
| setMaxPositionLimit(limit: int) | - | Sets the maximum position limit of the motor. |
| setMinPositionLimit(limit: int) | - | Sets the minimum position limit of the motor. |
| setVelocityLimit(limit: int) | - | Sets the velocity limit of the motor. |
| setCurrentLimit(limit: int) | - | Sets the current limit of the motor. |
| setPWMLimit(limit: int) | - | Sets the PWM limit of the motor. |
| reboot() | - | Reboots the motor. |
| factoryResetAll() | - | Performs factory reset on the motor. |
| factoryResetExceptID() | - | Performs factory reset on the motor except ID. |
| factoryResetExceptIDAndBaudRate() | - | Performs factory reset on the motor except ID and baud rate. |
| stageEnableTorque() | StagedCommand | Stages enabling the motor torque. |
| stageDisableTorque() | StagedCommand | Stages disabling the motor torque. |
| stageSetGoalPosition(position: int) | StagedCommand | Stages setting the motor position. |
| stageSetGoalVelocity(velocity: int) | StagedCommand | Stages setting the motor velocity. |
| stageSetGoalCurrent(current: int) | StagedCommand | Stages setting the motor current. |
| stageSetGoalPWM(pwm: int) | StagedCommand | Stages setting the motor PWM. |
| stageLEDOn() | StagedCommand | Stages turning the motor LED on. |
| stageLEDOff() | StagedCommand | Stages turning the motor LED off. |
| stageIsTorqueOn() | StagedCommand | Stages checking if the motor torque is enabled. |
| stageIsLEDOn() | StagedCommand | Stages checking if the motor LED is enabled. |
| stageGetPresentPosition() | StagedCommand | Stages getting the current motor position. |
| stageGetPresentVelocity() | StagedCommand | Stages getting the current motor velocity. |
| stageGetPresentCurrent() | StagedCommand | Stages getting the current motor current. |
| stageGetPresentPWM() | StagedCommand | Stages getting the current motor PWM. |
Variables
| Variable | Type | Attribute | Description |
|---|---|---|---|
| id | Int | instance | Specified Motor id. |
| model_number | Int | instance | Model number of the motor. |
| model_name | String | instance | Model name of the motor. |
| connector | Connector | instance | Connector instance. |
| control_table | ControlTable | instance | Control table instance. |
| torque_status | Int | instance | Torque status cache of the motor. |
| operating_mode_status | OperatingMode | instance | Operating mode status cache of the motor. |
Motor Class
| Method | Return Type | Description |
|---|---|---|
| Motor(uint8_t id, uint16_t model_number, Connector * connector) | - | Initializes the Motor instance. |
| enableTorque() | Result<void, DxlError> | Enables the motor torque. |
| disableTorque() | Result<void, DxlError> | Disables the motor torque. |
| setGoalPosition(int32_t position) | Result<void, DxlError> | Sets the motor position. |
| setGoalVelocity(int32_t velocity) | Result<void, DxlError> | Sets the motor velocity. |
| setGoalCurrent(int16_t current) | Result<void, DxlError> | Sets the motor current. |
| setGoalPWM(int16_t pwm) | Result<void, DxlError> | Sets the motor PWM. |
| LEDOn() | Result<void, DxlError> | Turns the motor LED on. |
| LEDOff() | Result<void, DxlError> | Turns the motor LED off. |
| ping() | Result<uint16_t, DxlError> | Pings the motor. |
| isTorqueOn() | Result<uint8_t, DxlError> | Checks if the motor torque is enabled. |
| isLEDOn() | Result<uint8_t, DxlError> | Checks if the motor LED is enabled. |
| getPresentPosition() | Result<uint32_t, DxlError> | Gets the current motor position. |
| getPresentVelocity() | Result<uint32_t, DxlError> | Gets the current motor velocity. |
| getPresentCurrent() | Result<uint16_t, DxlError> | Gets the current motor current. |
| getPresentPWM() | Result<uint16_t, DxlError> | Gets the current motor PWM. |
| getMaxPositionLimit() | Result<uint32_t, DxlError> | Gets the maximum position limit of the motor. |
| getMinPositionLimit() | Result<uint32_t, DxlError> | Gets the minimum position limit of the motor. |
| getVelocityLimit() | Result<uint32_t, DxlError> | Gets the velocity limit of the motor. |
| getCurrentLimit() | Result<uint16_t, DxlError> | Gets the current limit of the motor. |
| getPWMLimit() | Result<uint16_t, DxlError> | Gets the PWM limit of the motor. |
| getOperatingMode() | Result<OperatingMode, DxlError> | Gets the operating mode of the motor. |
| changeID(uint8_t new_id) | Result<void, DxlError> | Changes the ID of the motor. |
| setOperatingMode(OperatingMode mode) | Result<void, DxlError> | Sets the operating mode of the motor. |
| setProfileConfiguration(ProfileConfiguration config) | Result<void, DxlError> | Sets the profile configuration of the motor. |
| setDirection(Direction direction) | Result<void, DxlError> | Sets the direction of the motor. |
| setPositionPGain(uint16_t value) | Result<void, DxlError> | Sets the position P gain of the motor. |
| setPositionIGain(uint16_t value) | Result<void, DxlError> | Sets the position I gain of the motor. |
| setPositionDGain(uint16_t value) | Result<void, DxlError> | Sets the position D gain of the motor. |
| setVelocityPGain(uint16_t value) | Result<void, DxlError> | Sets the velocity P gain of the motor. |
| setVelocityIGain(uint16_t value) | Result<void, DxlError> | Sets the velocity I gain of the motor. |
| setHomingOffset(int32_t offset) | Result<void, DxlError> | Sets the homing offset of the motor. |
| setMaxPositionLimit(uint32_t limit) | Result<void, DxlError> | Sets the maximum position limit of the motor. |
| setMinPositionLimit(uint32_t limit) | Result<void, DxlError> | Sets the minimum position limit of the motor. |
| setVelocityLimit(uint32_t limit) | Result<void, DxlError> | Sets the velocity limit of the motor. |
| setCurrentLimit(uint16_t limit) | Result<void, DxlError> | Sets the current limit of the motor. |
| setPWMLimit(uint16_t limit) | Result<void, DxlError> | Sets the PWM limit of the motor. |
| reboot() | Result<void, DxlError> | Reboots the motor. |
| factoryResetAll() | Result<void, DxlError> | Performs factory reset on the motor. |
| factoryResetExceptID() | Result<void, DxlError> | Performs factory reset on the motor except ID. |
| factoryResetExceptIDAndBaudRate() | Result<void, DxlError> | Performs factory reset on the motor except ID and baud rate. |
| stageEnableTorque() | Result<StagedCommand, DxlError> | Stages enabling the motor torque. |
| stageDisableTorque() | Result<StagedCommand, DxlError> | Stages disabling the motor torque. |
| stageSetGoalPosition(int32_t position) | Result<StagedCommand, DxlError> | Stages setting the motor position. |
| stageSetGoalVelocity(int32_t velocity) | Result<StagedCommand, DxlError> | Stages setting the motor velocity. |
| stageSetGoalCurrent(int16_t current) | Result<StagedCommand, DxlError> | Stages setting the motor current. |
| stageSetGoalPWM(int16_t pwm) | Result<StagedCommand, DxlError> | Stages setting the motor PWM. |
| stageLEDOn() | Result<StagedCommand, DxlError> | Stages turning the motor LED on. |
| stageLEDOff() | Result<StagedCommand, DxlError> | Stages turning the motor LED off. |
| stageIsTorqueOn() | Result<StagedCommand, DxlError> | Stages checking if the motor torque is enabled. |
| stageIsLEDOn() | Result<StagedCommand, DxlError> | Stages checking if the motor LED is enabled. |
| stageGetPresentPosition() | Result<StagedCommand, DxlError> | Stages getting the current motor position. |
| stageGetPresentVelocity() | Result<StagedCommand, DxlError> | Stages getting the current motor velocity. |
| stageGetPresentCurrent() | Result<StagedCommand, DxlError> | Stages getting the current motor current. |
| stageGetPresentPWM() | Result<StagedCommand, DxlError> | Stages getting the current motor PWM. |
| getID() const | uint8_t | Returns the motor ID. |
| getModelNumber() const | uint16_t | Returns the motor model number. |
| getModelName() const | std::string | Returns the motor model name. |
| getTorqueStatus() const | uint8_t | Returns the cached torque status. |
| getOperatingModeStatus() const | OperatingMode | Returns the cached operating mode status. |
| setTorqueStatus(uint8_t status) | void | Sets the cached torque status. |
| setOperatingModeStatus(OperatingMode mode) | void | Sets the cached operating mode status. |
Variables
| Variable | Type | Attribute | Description |
|---|---|---|---|
| id_ | Int | Private | Specified Motor id. |
| model_number_ | Int | Private | Model number of the motor. |
| model_name_ | String | Private | Model name of the motor. |
| connector_ | Connector | Private | Connector instance. |
| control_table_ | ControlTable | Private | Control table instance. |
| torque_status_ | Int | Private | Torque status cache of the motor. |
| operating_mode_status_ | OperatingMode | Private | Operating mode status cache of the motor. |