NOTE: The DYNAMIXEL Workbench e-Manual in Japanese (日本語) is available for the Japanese.

Introduction

The purpose of DYNAMIXEL Workbench is to use more simple and easy to use any DYNAMIXEL. This library is based on DYNAMIXEL SDK and supports ROS, Linux, macOS and Arduino. However, this library is not magic stick to operate DYNAMIXEL with any setup. It has some restriction compared with DYNAMIXEL SDK but we are continue to upgrade this library for almost everyone loves DYNAMIXEL.

If have any questions or issues, please get a ticket in github issue.

CAUTION : DYNAMIXEL Workbench is designed to control DYNAMIXEL in ROS with limited features. For setting up and testing the DYNAMIXEL, please use DYNAMIXEL Wizard 2.0 or DYNAMIXEL SDK.

Supported DYNAMIXEL

DYNAMIXEL Workbench metapackage contains 3 packages: Controllers, Operators, and Toolbox. The Controllers package introduces how to employ DYNAMIXEL on different operating mode with DYNAMIXEL Workbench library(Toolbox). In addition, the Operators demonstrates some straightforward examples by operating Controllers.

• ROS WIKI

Downloads

ROS

Install ROS on PC

The following script will allow you to simplify the ROS installation procedure. Run the following command in a terminal window. The terminal application can be found with the Ubuntu search icon on the top left corner of the screen, or you can use shortcut key for terminal is Ctrl+Alt+T. After install ROS, please reboot PC.

$ sudo apt-get update
$ sudo apt-get upgrade
$ wget https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_tools/master/install_ros_kinetic.sh && chmod 755 ./install_ros_kinetic.sh && bash ./install_ros_kinetic.sh

NOTE: In order to check which packages are installed, please check this link out. install_ros_kinetic.sh

If you prefer manual installation, please following the link below.

• Manual installation of ROS Kinetic

Downloads ROS Packages

Main packages

$ git clone https://github.com/ROBOTIS-GIT/dynamixel-workbench.git
$ git clone https://github.com/ROBOTIS-GIT/dynamixel-workbench-msgs.git

Dependent packages

$ git clone https://github.com/ROBOTIS-GIT/DynamixelSDK.git

OpenCR and OpenCM

Downloads Arduino IDE

• Downloads Arduino IDE for uploding firmware to OpenCR and OpenCM

OpenCR Arduino IDE

In order to use Exameples for OpenCM 9.04 in Arduino, Porting OpenCM9.04 Board to Arduino IDE is required.

• Porting the OpenCR1.0 board to the Arduino IDE

OpenCM Arduino IDE

In order to use Exameples for OpenCM 9.04 in Arduino, Porting OpenCM9.04 Board to Arduino IDE is required.

• Porting the OpenCM9.04 board to the Arduino IDE

Linux and macOS

NOTE: We don’t have a plan to release for Windows OS. But we will happily merge any contributions regarding Windows environment.

Downloads Library

$ git clone https://github.com/ROBOTIS-GIT/DynamixelSDK.git
$ git clone https://github.com/ROBOTIS-GIT/dynamixel-workbench.git

Setup DYNAMIXEL SDK library

• Linux
• macOS

Setup DYNAMIXEL Workbench library

$ cd ~/dynamixel-workbench/dynamixel_workbench_toolbox/examples
$ mkdir -p build && cd build
$ cmake ..
$ make

Device Setup

WARNING: You should check the device setup over and over again before you use the library.
Please check power input and usb port once again.

U2D2

How to Setup

How to Setup

Copy rules file

$ wget https://raw.githubusercontent.com/ROBOTIS-GIT/dynamixel-workbench/master/99-dynamixel-workbench-cdc.rules
$ sudo cp ./99-dynamixel-workbench-cdc.rules /etc/udev/rules.d/
$ sudo udevadm control --reload-rules
$ sudo udevadm trigger

Check usb port

$ ls /dev/tty*

Then you can find /dev/ttyUSB0 (The number of port may be different depending on setup)

OpenCR

Connect power(12v) and TTL or RS485

TIP:
If you want to use OpenCR as U2D2, please upload usb_to_dxl firmware (File -> Examples -> OpenCR -> 10.Etc -> usb_to_dxl) Then you can use /dev/ttyACM0 port (The number of port may be different depending on setup).

OpenCM

Connect power(12v) and TTL(4 pin)or RS485(8 pin)

TIP: Please follow a link for getting more information about pin

Tutorials

• ROS
  • Find Dynamixels
  • Controllers

  • Operators

  • OpenCR and OpenCM
  • o_Find_Dynamixel
  • p_Monitor
• Linux and macOS
  • Examples
  • position
  • bulk_read_write

ROS Tutorials

Find Dynamixels

This node scans all ID with each Baudrate(9600, 57600, 115200, 1000000, 2000000, 3000000, 4000000) and shows how many dynamixels are connected.

Run find_dynamixel

$ rosrun dynamixel_workbench_controllers find_dynamixel /dev/ttyUSB0

Then you can see below texts.

[ INFO] [1544589715.841211668]: Succeed to init(9600)
[ INFO] [1544589715.841236741]: Wait for scanning...
[ INFO] [1544589737.539083688]: Find 0 Dynamixels
[ INFO] [1544589737.539526809]: Succeed to init(57600)
[ INFO] [1544589737.539570059]: Wait for scanning...
[ INFO] [1544589755.441019922]: Find 2 Dynamixels
[ INFO] [1544589755.441086482]: id : 1, model name : XM430-W350
[ INFO] [1544589755.441109032]: id : 2, model name : XM430-W350
[ INFO] [1544589755.441504892]: Succeed to init(115200)
[ INFO] [1544589755.441548969]: Wait for scanning...
[ INFO] [1544589773.031677244]: Find 0 Dynamixels
[ INFO] [1544589773.032153380]: Succeed to init(1000000)
[ INFO] [1544589773.032178580]: Wait for scanning...
[ INFO] [1544589790.291943770]: Find 0 Dynamixels
[ INFO] [1544589790.292404604]: Succeed to init(2000000)
[ INFO] [1544589790.292418207]: Wait for scanning...
[ INFO] [1544589807.530702991]: Find 0 Dynamixels
[ INFO] [1544589807.531286252]: Succeed to init(3000000)
[ INFO] [1544589807.531331656]: Wait for scanning...
[ INFO] [1544589824.762803705]: Find 0 Dynamixels
[ INFO] [1544589824.763461821]: Succeed to init(4000000)
[ INFO] [1544589824.763506935]: Wait for scanning...
[ INFO] [1544589841.990120553]: Find 0 Dynamixels

TIP: If you can’t find any DYNAMIXEL, please check usb port, power. Even if it can’t find anything, please check firmware to use ROBOTIS software (R+ Manager 2.0 or R+ Manager 1.0)

Controllers

This package is to control DYNAMIXEL by ROS API. You can load your DYNAMIXEL by simply creating yaml file.

The configuration of the yaml file is as follows. name is used for joint name of /joint_states topic as well as identifing DYNAMIXEL.
When controller is initialized, DYNAMIXEL information is loaded from the file and configures each Control_Table_Item with the value for each DYNAMIXEL based on id.

[name]:
  ID: [id]
  [Control_Table_Item]: [value]
  [Control_Table_Item]: [value]
  .
  .
  .
[name]:
  ID: [id]
  [Control_Table_Item]: [value]
  [Control_Table_Item]: [value]
  [Control_Table_Item]: [value]
  .
  .
  .

Let’s take a look at the joint_2_0.yaml file. This file indicates configuration for 2 DYNAMIXEL. The first DYNAMIXEL has the name of ‘pan’ and id is ‘1’ whereas the second DYNAMIXEL has the name of ‘tilt’ and id is ‘2’. Both DYNAMIXEL will be set Return_Delay_time to zero(0) and Operating_Mode to Position Control Mode(3).

pan:
  ID: 1
  Return_Delay_Time: 0
  Operating_Mode: 3
  Profile_Acceleration: 0
  Profile_Velocity: 0
tilt:
  ID: 2
  Return_Delay_Time: 0
  Operating_Mode: 3
  Profile_Acceleration: 0
  Profile_Velocity: 0

Let’s take a look at the dynamixel_controller.launch file

<launch>
  <arg name="usb_port"                default="/dev/ttyUSB0"/>
  <arg name="dxl_baud_rate"           default="57600"/>
  <arg name="namespace"               default="dynamixel_workbench"/>

  <arg name="use_moveit"              default="false"/>
  <arg name="use_joint_state"         default="true"/>
  <arg name="use_cmd_vel"             default="false"/>

  <param name="dynamixel_info"          value="$(find dynamixel_workbench_controllers)/config/basic.yaml"/>

  <node name="$(arg namespace)" pkg="dynamixel_workbench_controllers" type="dynamixel_workbench_controllers"
        required="true" output="screen" args="$(arg usb_port) $(arg dxl_baud_rate)">
    <param name="use_moveit"              value="$(arg use_moveit)"/>
    <param name="use_joint_states_topic"  value="$(arg use_joint_state)"/>
    <param name="use_cmd_vel_topic"       value="$(arg use_cmd_vel)"/>
    <rosparam>
      publish_period: 0.010
      dxl_read_period: 0.010
      dxl_write_period: 0.010
      mobile_robot_config:                <!--this values will be set when 'use_cmd_vel' is true-->
        seperation_between_wheels: 0.160  <!--default value is set by reference of TB3-->
        radius_of_wheel: 0.033            <!--default value is set by reference of TB3-->
    </rosparam>
  </node>
</launch>

Launch dynamixel_controller

$ cd ~/catkin_ws && catkin_make
$ roslaunch dynamixel_workbench_controllers dynamixel_controllers.launch

If controller load your DYNAMIXEL, you can watch below texts

[ INFO] [1544595828.276238724]: Name : pan, ID : 1, Model Number : 1020
[ INFO] [1544595828.316198852]: Name : tilt, ID : 2, Model Number : 1020

After initialization, DYNAMIXEL will be torque on. If you want to write value to DYNAMIXEL, you can use ROS service(/dynamixel_command).

Open rqt and Plugins -> Services -> Service Caller

Or use command line

$ rosservice call /dynamixel_workbench/dynamixel_command "command: ''
id: 1
addr_name: 'Goal_Position'
value: 2048"

Parameters List :

• usb_port
  USB port name you used

• dxl_baud_rate
  Baud Rate of DYNAMIXEL

• namespace
  Namespace of this package

• dynamixel_info
  YAML file path

• publish_period
  Period of publishing topic (msec)

• dxl_read_period
  Period of reading information of DYNAMIXEL (msec)

• dxl_write_period
  Period of writing value to DYNAMIXEL (msec)

• use_moveit
  If you use joint trajectory from calculated by MoveIt!, please set True

• use_joint_states_topic
  If you want publish /joint_states, please set True

• use_cmd_vel_topic
  If you want subscribe /cmd_vel, please set True

• seperation_between_wheels
  This parameters is valid when use_cmd_vel_topic it True

• radius_of_wheel
  This parameters is valid when use_cmd_vel_topic it True

Topic List :

• /dynamixel_state(dynamixel_workbench_msgs/DynamixelStateList)
  Provides states of connected DYNAMIXEL

• /joint_states(sensor_msgs/JointState)
  Provides joint information about connected DYNAMIXEL

• /joint_trajectory(trajectory_msgs/JointTrajectory)
  Receives joint trajectory to control DYNAMIXEL

Service List :

• /dynamixel_command(dynamixel_workbench_msgs/DynamixelCommand)
  Receives command to control DYNAMIXEL

Operators

Joint Operators

This package is to make ROS message and publish it to controllers

The configuration of the yaml file is as follows. First, you register joint name when you load from controllers. Seconds, you register motion name. Each motion name has step and time from start. The step size should be same as joint name.

joint:
  names: [[name1], [name2]]
motion:
  names: [[motion_name1], [motion_name2]]
  [motion_name1]:
    step: [[position1], [position2]]
    time_from_start: [time]
  [motion_name2]:
    step: [[position1], [position2]]
    time_from_start: [time]
  .
  .
  .

Let’s take a look at the motion.yaml file. This file indicates load 2 DYNAMIXEL. First DYNAMIXEL has name ‘pan’ and second DYNAMIXEL has name ‘tilt’. In this file, three motion was registered.

joint:
  names: [pan, tilt]
motion:
  names: [right, zero, left]
  right:
    step: [-3.14, -3.14]  # radian
    time_from_start: 2.0  # sec
  zero:
    step: [0.0, 0.0]
    time_from_start: 3.0
  left:
    step: [3.14, 3.14]
    time_from_start: 6.0

Launch controller and joint_operator.

WARNING: The controller should be set joint_2_0.yaml or joint_1_0.yaml.

$ cd ~/catkin_ws && catkin_make
$ roslaunch dynamixel_workbench_controllers dynamixel_controllers.launch
$ roslaunch dynamixel_workbench_operators joint_operator.launch

If controller load your DYNAMIXEL, you can watch below texts

[ INFO] [1544595828.276238724]: Name : pan, ID : 1, Model Number : 1020
[ INFO] [1544595828.316198852]: Name : tilt, ID : 2, Model Number : 1020

If operator launch succeeded, you can watch below texts

[ INFO] [1544598264.311365515]: motion_name : right, step : -3.140000
[ INFO] [1544598264.311399654]: motion_name : right, step : -3.140000
[ INFO] [1544598264.311414820]: time_from_start : 2.000000
[ INFO] [1544598264.311453292]: motion_name : zero, step : 0.000000
[ INFO] [1544598264.311466789]: motion_name : zero, step : 0.000000
[ INFO] [1544598264.311478179]: time_from_start : 3.000000
[ INFO] [1544598264.311498720]: motion_name : left, step : 3.140000
[ INFO] [1544598264.311524562]: motion_name : left, step : 3.140000
[ INFO] [1544598264.311534826]: time_from_start : 6.000000
[ INFO] [1544598264.313085881]: For now, you can use publish joint trajectory msgs by triggering service(/execution)

When you execute command by ROS service, DYNAMIXEL will rotate.

$ rosservice call /dynamixel_workbench/execution "{}"

NOTE: If you want to repeat motion, you can set True to is_loop argument.
$ roslaunch dynamixel_workbench_operators joint_operator.launch is_loop:=true

Parameters List :

• namespace
  Namespace of this node

• trajectory_info
  Trajectory information file path

Topic List :

• /joint_trajectory(trajectory_msgs/JointTrajectory)
  Send joint trajectory to control DYNAMIXEL

Service List :

• /execution(std_srvs/Trigger)
  Send command to excute following joint trajectory

Wheel Operators

This package is to make ROS message and publish it to controllers

Launch controller and joint_operator.

WARNING: The controller should be set wheel_2_0.yaml or wheel_1_0.yaml and set true to use_cmd_vel parameter.

$ cd ~/catkin_ws && catkin_make
$ roslaunch dynamixel_workbench_operators wheel_operator.launch
$ roslaunch dynamixel_workbench_controllers dynamixel_controllers.launch use_cmd_vel:=true

If controller load your DYNAMIXEL, you can watch below texts

[ INFO] [1544595828.276238724]: Name : pan, ID : 1, Model Number : 1020
[ INFO] [1544595828.316198852]: Name : tilt, ID : 2, Model Number : 1020

If operator launch succeeded, you can watch below texts

[ INFO] [1544600281.020523635]: You can set '-lin_vel_step' and  '-ang_vel_step' arguments (default is 0.01 and 0.1)
[ INFO] [1544600281.021060063]:
  Control Your Mobile Robot!
  ---------------------------
  Moving around:
          w
     a    s    d
          x

  w/x : increase/decrease linear velocity
  a/d : increase/decrease angular velocity

  s : force stop

  CTRL-C to quit

Parameters List :

• namespace
  Namespace of this node

Topic List :

• /cmd_vel(geometry_msgs/Twist)
  Send command velocity to control DYNAMIXEL

OpenCR and OpenCM Tutorials

DYNAMIXEL Workbench firmware in OpenCR and OpenCM is completely same. You can select any example what you want and upload it.

WARNING: There are some examples that needs to be openned Serial Monitor before it is running. If this code (while(!Serial) ) is activated, please open Serial Monitor.

o_Find_Dynamixel

1. Open o_Find_Dynamixel

   

2. Select Port

   

3. Push Upload button or CTRL+U

   

4. You can show if the firmware upload successfully

   

5. Push Serial Monitor button

   

6. Serial monitor starts to scan and find DYNAMIXEL

   

p_Monitor

1. Open p_Monitor

   

2. Select Port

   

3. Push Upload button or CTRL+U

   

4. You can show if the firmware upload successfully

   

5. Push Serial Monitor button

   

6. Serial monitor shows dynamixel monitor

   

7. Type begin 57600

   

8. Type scan 10

   

9. Type torque_on 1 and torque_on 2

   

10. Type sync_write_handler 1 Goal_Position

    

11. Type sync_write 1 2 0 2048 2048 then DYNAMIXEL will rotate

    

Linux and macOS Tutorials

You can select any example what you want and excute it.

TIP: USB port name is different depend on OS. For example, /dev/ttyUSB0, /dev/ttyACM0 in Linux and /dev/cu.usbmodem1411 in macOS

position

1. Open terminal and go to DYNAMIXEL Workbench build folder

    $ cd ~/dynamixel-workbench/dynamixel_workbench_toolbox/examples/build
   

2. Excute position (arguments : -port_name -baud_rate -dynamixel_id)

    $ ./position /dev/ttyUSB0 57600 1
   

3. You can watch below texts and DYNAMIXEL will rotate 3 times

    Succeed to init(57600)
    Succeed to ping
    id : 1, model_number : 1020
    Succeed to change joint mode
    Dynamixel is moving...
   

bulk_read_write

1. Open terminal and go to DYNAMIXEL Workbench build folder

    $ cd ~/dynamixel-workbench/dynamixel_workbench_toolbox/examples/build
   

2. Excute bulk_read_write (arguments : -port_name -baud_rate -dynamixel_id_1 -dynamixel_id_2)

    $ ./bulk_read_write /dev/ttyUSB0 57600 1 2
   

3. You can watch below texts and DYNAMIXEL(dynamixel_id_1) will change rotate direction and another DYNAMIXEL(dynamixel_id_2) will change LED status

    Succeed to init(57600)
    Succeeded to ping
    id : 1, model_number : 1020
    Succeed to change joint mode
    Succeeded to ping
    id : 2, model_number : 1020
    Succeed to change joint mode
    [DynamixelDriver] Succeeded to init groupBulkWrite!
    [DynamixelDriver] Succeeded to init groupBulkRead!
    [DynamixelDriver] Succeeded to add param for bulk read!
    [DynamixelDriver] Succeeded to add param for bulk read!
    [DynamixelDriver] Succeeded to add param for bulk write!
    [DynamixelDriver] Succeeded to add param for bulk write!
   

API References

• Github Repo

NOTE: We have a plan to publish Doxygen. It will be updated soon.

Function List

bool init(const char* device_name = "/dev/ttyUSB0",
        uint32_t baud_rate = 57600,
        const char **log = NULL);

bool begin(const char* device_name = "/dev/ttyUSB0",
        uint32_t baud_rate = 57600,
        const char **log = NULL);

bool setPortHandler(const char *device_name, const char **log = NULL);
bool setBaudrate(uint32_t baud_rate, const char **log = NULL);
bool setPacketHandler(float protocol_version, const char **log = NULL);

float getProtocolVersion(void);
uint32_t getBaudrate(void);

const char * getModelName(uint8_t id, const char **log = NULL);
uint16_t getModelNumber(uint8_t id, const char **log = NULL);
const ControlItem *getControlTable(uint8_t id, const char **log = NULL);
const ControlItem *getItemInfo(uint8_t id, const char *item_name, const char **log = NULL);
uint8_t getTheNumberOfControlItem(uint8_t id, const char **log = NULL);
const ModelInfo* getModelInfo(uint8_t id, const char **log = NULL);

uint8_t getTheNumberOfSyncWriteHandler(void);
uint8_t getTheNumberOfSyncReadHandler(void);
uint8_t getTheNumberOfBulkReadParam(void);

bool scan(uint8_t *get_id,
        uint8_t *get_the_number_of_id,
        uint8_t range = 253,
        const char **log = NULL);

bool scan(uint8_t *get_id,
        uint8_t *get_the_number_of_id,
        uint8_t start_number,
        uint8_t end_number,
        const char **log = NULL);

bool ping(uint8_t id,
        uint16_t *get_model_number,
        const char **log = NULL);

bool ping(uint8_t id,
        const char **log = NULL);

bool clearMultiTurn(uint8_t id, const char **log = NULL);

bool reboot(uint8_t id, const char **log = NULL);
bool reset(uint8_t id, const char **log = NULL);

bool writeRegister(uint8_t id, uint16_t address, uint16_t length, uint8_t* data, const char **log = NULL);
bool writeRegister(uint8_t id, const char *item_name, int32_t data, const char **log = NULL);

bool writeOnlyRegister(uint8_t id, uint16_t address, uint16_t length, uint8_t *data, const char **log = NULL);
bool writeOnlyRegister(uint8_t id, const char *item_name, int32_t data, const char **log = NULL);

bool readRegister(uint8_t id, uint16_t address, uint16_t length, uint32_t *data, const char **log = NULL);
bool readRegister(uint8_t id, const char *item_name, int32_t *data, const char **log = NULL);

void getParam(int32_t data, uint8_t *param);

bool addSyncWriteHandler(uint16_t address, uint16_t length, const char **log = NULL);
bool addSyncWriteHandler(uint8_t id, const char *item_name, const char **log = NULL);

bool syncWrite(uint8_t index, int32_t *data, const char **log = NULL);
bool syncWrite(uint8_t index, uint8_t *id, uint8_t id_num, int32_t *data, uint8_t data_num_for_each_id, const char **log = NULL);

bool addSyncReadHandler(uint16_t address, uint16_t length, const char **log = NULL);
bool addSyncReadHandler(uint8_t id, const char *item_name, const char **log = NULL);

bool syncRead(uint8_t index, const char **log = NULL);
bool syncRead(uint8_t index, uint8_t *id, uint8_t id_num, const char **log = NULL);

bool getSyncReadData(uint8_t index, int32_t *data, const char **log = NULL);
bool getSyncReadData(uint8_t index, uint8_t *id, uint8_t id_num, int32_t *data, const char **log = NULL);
bool getSyncReadData(uint8_t index, uint8_t *id, uint8_t id_num, uint16_t address, uint16_t length, int32_t *data, const char **log = NULL);

bool initBulkWrite(const char **log = NULL);

bool addBulkWriteParam(uint8_t id, uint16_t address, uint16_t length, int32_t data, const char **log = NULL);
bool addBulkWriteParam(uint8_t id, const char *item_name, int32_t data, const char **log = NULL);

bool bulkWrite(const char **log = NULL);

bool initBulkRead(const char **log = NULL);

bool addBulkReadParam(uint8_t id, uint16_t address, uint16_t length, const char **log = NULL);
bool addBulkReadParam(uint8_t id, const char *item_name, const char **log = NULL);

bool bulkRead(const char **log = NULL);

bool getBulkReadData(int32_t *data, const char **log = NULL);
bool getBulkReadData(uint8_t *id, uint8_t id_num, uint16_t *address, uint16_t *length, int32_t *data, const char **log = NULL);

bool clearBulkReadParam(void);

bool torque(uint8_t id, bool onoff, const char **log = NULL);
bool torqueOn(uint8_t id, const char **log = NULL);
bool torqueOff(uint8_t id, const char **log = NULL);

bool changeID(uint8_t id, uint8_t new_id, const char **log = NULL);
bool changeBaudrate(uint8_t id, uint32_t new_baudrate, const char **log = NULL);
bool changeProtocolVersion(uint8_t id, uint8_t version, const char **log = NULL);

bool itemWrite(uint8_t id, const char *item_name, int32_t data, const char **log = NULL);
bool itemRead(uint8_t id, const char *item_name, int32_t *data, const char **log = NULL);

bool led(uint8_t id, bool onoff, const char **log = NULL);
bool ledOn(uint8_t id, const char **log = NULL);
bool ledOff(uint8_t id, const char **log = NULL);

bool setNormalDirection(uint8_t id, const char **log = NULL);
bool setReverseDirection(uint8_t id, const char **log = NULL);

bool setVelocityBasedProfile(uint8_t id, const char **log = NULL);
bool setTimeBasedProfile(uint8_t id, const char **log = NULL);

bool setSecondaryID(uint8_t id, uint8_t secondary_id, const char **log = NULL);

bool setCurrentControlMode(uint8_t id, const char **log = NULL);
bool setTorqueControlMode(uint8_t id, const char **log = NULL);
bool setVelocityControlMode(uint8_t id, const char **log = NULL);  
bool setPositionControlMode(uint8_t id, const char **log = NULL);  
bool setExtendedPositionControlMode(uint8_t id, const char **log = NULL);
bool setMultiTurnControlMode(uint8_t id, const char **log = NULL);
bool setCurrentBasedPositionControlMode(uint8_t id, const char **log = NULL);
bool setPWMControlMode(uint8_t id, const char **log = NULL);

bool setOperatingMode(uint8_t id, uint8_t index, const char **log = NULL);

bool jointMode(uint8_t id, int32_t velocity = 0, int32_t acceleration = 0, const char **log = NULL);
bool wheelMode(uint8_t id, int32_t acceleration = 0, const char **log = NULL);
bool currentBasedPositionMode(uint8_t id, int32_t current = 0, const char **log = NULL);

bool goalPosition(uint8_t id, int32_t value, const char **log = NULL);
bool goalPosition(uint8_t id, float radian, const char **log = NULL);

bool goalVelocity(uint8_t id, int32_t value, const char **log = NULL);
bool goalVelocity(uint8_t id, float velocity, const char **log = NULL);

bool getPresentPositionData(uint8_t id, int32_t* data, const char **log = NULL);
bool getRadian(uint8_t id, float* radian, const char **log = NULL);

bool getPresentVelocityData(uint8_t id, int32_t* data, const char **log = NULL);
bool getVelocity(uint8_t id, float* velocity, const char **log = NULL);

int32_t convertRadian2Value(uint8_t id, float radian);
float convertValue2Radian(uint8_t id, int32_t value);

int32_t convertRadian2Value(float radian, int32_t max_position, int32_t min_position, float max_radian, float min_radian);
float convertValue2Radian(int32_t value, int32_t max_position, int32_t min_position, float max_radian, float min_radian);

int32_t convertVelocity2Value(uint8_t id, float velocity);
float convertValue2Velocity(uint8_t id, int32_t value);

int16_t convertCurrent2Value(float current);
float convertValue2Current(int16_t value);

float convertValue2Load(int16_t value);

Function Reference

bool init(const char* device_name = “/dev/ttyUSB0”, uint32_t baud_rate = 57600, const char **log = NULL)

Description
Initialization portHandler

Input

1. device_name : Set USB port name
2. baud_rate : Set baud rate of DYNAMIXEL

Output
If all input is set successfully, return true. If not, return false

bool begin(const char* device_name = “/dev/ttyUSB0”, uint32_t baud_rate = 57600, const char **log = NULL)

Description
Initialization portHandler

Input

1. device_name : Set USB port name
2. baud_rate : Set baud rate of DYNAMIXEL

Output
If all input is set successfully, return true. If not, return false

bool setPortHandler(const char *device_name, const char **log = NULL)

Description
Set PortHandler

Input

1. device_name : Set USB port name

Output
If all input is set successfully, return true. If not, return false

bool setBaudrate(uint32_t baud_rate, const char **log = NULL)

Description
Set baud rate of DYNAMIXEL

Input

1. baud_rate : Set baud rate of DYNAMIXEL

Output
If all input is set successfully, return true. If not, return false

bool setPacketHandler(float protocol_version, const char **log = NULL)

Description
Set PacketHandler

Input

1. protocol_version : Set protocol version of DYNAMIXEL

Output
If all input is set successfully, return true. If not, return false

float getProtocolVersion(void)

Description
Get protocol version of PacketHandler

Input

Output
Return protocol version of PacketHandler

uint32_t getBaudrate(void)

Description
Get baud rate of PortHandler

Input
Output
Return baud rate of PortHandler

const char * getModelName(uint8_t id, const char **log = NULL)

Description
Get model name of DYNAMIXEL

Input

1. id : Set DYNAMIXEL ID

Output
Return model name

uint16_t getModelNumber(uint8_t id, const char **log = NULL)

Description
Get model number of DYNAMIXEL

Input

1. id : Set DYNAMIXEL ID

Output
Return model number

const ControlItem *getControlTable(uint8_t id, const char **log = NULL)

Description
Get control table(including ID, Baud_Rate, Goal_Position, …) of DYNAMIXEL

Input

1. id : Set DYNAMIXEL ID

Output
Return control table

const ControlItem *getItemInfo(uint8_t id, const char *item_name, const char **log = NULL)

Description
Get item info in control table of DYNAMIXEL

Input

1. id : Set DYNAMIXEL ID
2. item_name : Item name in control table

Output
Return item info

uint8_t getTheNumberOfControlItem(uint8_t id, const char **log = NULL)

Description
Get the number of control item

Input

1. id : Set DYNAMIXEL ID

Output
Return the number of control item

const ModelInfo* getModelInfo(uint8_t id, const char **log = NULL)

Description
Get model information(RPM, min/max position, …) of DYNAMIXEL

Input

1. id : Set DYNAMIXEL ID

Output
Return model information

uint8_t getTheNumberOfSyncWriteHandler(void)

Description
Get the number of sync write handler

Input
Output
Return the number of sync write handler

uint8_t getTheNumberOfSyncReadHandler(void)

Description
Get the number of sync read handler

Input
Output
Return the number of sync read handler

uint8_t getTheNumberOfBulkReadParam(void)

Description
Get the number of bulk read param

Input
Output
Return the number of bulk read param

bool scan(uint8_t *get_id, uint8_t *get_the_number_of_id, uint8_t range = 253, const char **log = NULL)

Description
Ping DYNAMIXEL between ranges. If Ping success, all information on DYNAMIXEL will be saved

Input

1. get_id : Get found IDs
2. get_the_number_of_id : Get found the number of IDs
3. range : Set scan range (starts to 0)

Output
If ping instruction successfully work, return true. If not, return false

bool scan(uint8_t *get_id, uint8_t *get_the_number_of_id, uint8_t start_number, uint8_t end_number, const char **log = NULL)

Description
Ping DYNAMIXEL between specific ranges. If Ping success, all information on DYNAMIXEL will be saved

Input

1. get_id : Get found IDs
2. get_the_number_of_id : Get found the number of IDs
3. start_number : Set start number for ping
4. end_number : Set end number for ping

Output
If ping instruction successfully work, return true. If not, return false

bool ping(uint8_t id, uint16_t *get_model_number, const char **log = NULL)

Description
Ping DYNAMIXEL. If Ping success, all information on DYNAMIXEL will be saved

Input

1. id : Set ID
2. get_model_number : Get model number of pinged DYNAMIXEL

Output
If ping instruction successfully work, return true. If not, return false

bool ping(uint8_t id, const char **log = NULL)

Description
Ping DYNAMIXEL. If Ping success, all information on DYNAMIXEL will be saved

Input

1. id : Set ID

Output
If ping instruction successfully work, return true. If not, return false

bool clearMultiTurn(uint8_t id, const char **log = NULL)

Description
Send clearMultiTurn instruction

Input

1. id : Set ID

Output
If clearMultiTurn instruction set successfully work, return true. If not, return false

bool reboot(uint8_t id, const char **log = NULL)

Description
Send reboot instruction

Input

1. id : Set ID

Output
If reboot instruction set successfully work, return true. If not, return false

bool reset(uint8_t id, const char **log = NULL)

Description
Send reset instruction

Input

1. id : Set ID

Output
If reset instruction set successfully work, return true. If not, return false

bool writeRegister(uint8_t id, uint16_t address, uint16_t length, uint8_t* data, const char **log = NULL)

Description
Write data to DYNAMIXEL and wait the signal include the data are successfully write

Input

1. id : Set ID
2. address : Set address of control table item
3. length : Set length of control table item
4. data : Set data

Output
If writeTxRx instruction set successfully work, return true. If not, return false

bool writeRegister(uint8_t id, const char *item_name, int32_t data, const char **log = NULL)

Description
Write data to DYNAMIXEL and wait the signal include the data are successfully write

Input

1. id : Set ID
2. item_name : Set item name of control table item (ex, Goal_Position, Goal_Velocity,…)
3. data : Set data

Output
If writeTxRx instruction set successfully work, return true. If not, return false

bool writeOnlyRegister(uint8_t id, uint16_t address, uint16_t length, uint8_t *data, const char **log = NULL)

Description
Only write data to DYNAMIXEL. Will not wait any signal

Input

1. id : Set ID
2. address : Set address of control table item
3. length : Set length of control table item
4. data : Set data

Output
If writeTxOnly instruction set successfully work, return true. If not, return false

bool writeOnlyRegister(uint8_t id, const char *item_name, int32_t data, const char **log = NULL)

Description
Only write data to DYNAMIXEL. Will not wait any signal

Input

1. id : Set ID
2. item_name : Set item name of control table item (ex, Goal_Position, Goal_Velocity,…)
3. data : Set data

Output
If writeTxOnly instruction set successfully work, return true. If not, return false

bool readRegister(uint8_t id, uint16_t address, uint16_t length, uint32_t *data, const char **log = NULL)

Description
Read data from DYNAMIXEL

Input

1. id : Set ID
2. address : Set address of control table item
3. length : Set length of control table item
4. data : Get data

Output
If readTxRx instruction set successfully work, return true. If not, return false

bool readRegister(uint8_t id, const char *item_name, int32_t *data, const char **log = NULL)

Description
Read data from DYNAMIXEL

Input

1. id : Set ID
2. item_name : Set item name of control table item (ex, Goal_Position, Goal_Velocity,…)
3. data : Get data

Output
If readTxRx instruction set successfully work, return true. If not, return false

void getParam(int32_t data, uint8_t *param)

Description
Transform 32-bit data to 8-bit parameter

Input

1. data : Set 32-bit data
2. param : Get 8-bit parameter

Output

bool addSyncWriteHandler(uint16_t address, uint16_t length, const char **log = NULL)

Description
Add syncWriteHandler

Input

1. address : Set address of control table item
2. length : Set lengh of control table item

Output
If try to add syncWriteHanlder over the max amount(default is 5), return false. If not, return true

bool addSyncWriteHandler(uint8_t id, const char *item_name, const char **log = NULL)

Description
Add syncWriteHandler

Input

1. id : Set DYNAMIXEL ID for reference of control table
2. item_name : Set item name of control table item (ex, Goal_Position, Goal_Velocity,…)

Output
If try to add syncWriteHanlder over the max amount(default is 5), return false or can’t find item name. If not, return true

bool syncWrite(uint8_t index, int32_t *data, const char **log = NULL)

Description
Execute sync write to all pinged DYNAMIXEL

Input

1. index : Set index of syncWriteHandler
2. data : Set data

Output
If addParam or txPacket instruction set successfully work, return true. If not, return false

bool syncWrite(uint8_t index, uint8_t *id, uint8_t id_num, int32_t *data, uint8_t data_num_for_each_id, const char **log = NULL)

Description
Execute sync write to some DYNAMIXEL

Input

1. index : Set index of syncWriteHandler
2. id : Set IDs
3. id_num : Set the number of IDs
4. data : Set data
5. data_num_for_each_id : Set the number of data for each ID

Output
If addParam or txPacket instruction set successfully work, return true. If not, return false

bool addSyncReadHandler(uint16_t address, uint16_t length, const char **log = NULL)

Description
Add syncReadHandler

Input

1. address : Set address of control table item
2. length : Set lengh of control table item

Output
If try to add syncReadHandler over the max amount(default is 5), return false. If not, return true

bool addSyncReadHandler(uint8_t id, const char *item_name, const char **log = NULL)

Description
Add syncReadHandler

Input

1. id : Set DYNAMIXEL ID for reference of control table
2. item_name : Set item name of control table item (ex, Goal_Position, Goal_Velocity,…)

Output
If try to add syncReadHandler over the max amount(default is 5), return false or can’t find item name. If not, return true

bool syncRead(uint8_t index, const char **log = NULL)

Description
Execute sync read from all pinged DYNAMIXEL

Input

1. index : Set index of syncWriteHandler

Output
If addParam or txRxPacket instruction set successfully work, return true. If not, return false

bool syncRead(uint8_t index, uint8_t *id, uint8_t id_num, const char **log = NULL)

Description
Execute sync read from some DYNAMIXEL

Input

1. index : Set index of syncWriteHandler
2. id : Set IDs
3. id_num : Set the number of IDs

Output
If addParam or txRxPacket instruction set successfully work, return true. If not, return false

bool getSyncReadData(uint8_t index, int32_t *data, const char **log = NULL)

Description
Get data read by syncRead function from all pinged DYNAMIXEL

Input

1. index : Set index of syncWriteHandler
2. data : Get data

Output
If isAvailable instruction set successfully work, return true. If not, return false

bool getSyncReadData(uint8_t index, uint8_t *id, uint8_t id_num, int32_t *data, const char **log = NULL)

Description
Get data read by syncRead function from some DYNAMIXEL

Input

1. index : Set index of syncWriteHandler
2. id : Set IDs
3. id_num : Set the number of IDs
4. data : Get data

Output
If isAvailable instruction set successfully work, return true. If not, return false

bool getSyncReadData(uint8_t index, uint8_t *id, uint8_t id_num, uint16_t address, uint16_t length, int32_t *data, const char **log = NULL)

Description
Get data read by syncRead function from some DYNAMIXEL

Input

1. index : Set index of syncWriteHandler
2. id : Set IDs
3. id_num : Set the number of IDs
4. address : Set address of control table item
5. length : Set lengh of control table item
6. data : Get data

Output
If isAvailable instruction set successfully work, return true. If not, return false

bool initBulkWrite(const char **log = NULL)

Description
Initialization bulkWriteHandler

Input
Output
If portHanlder and packetHandler is loaded successfully work, return true. If not, return false

bool addBulkWriteParam(uint8_t id, uint16_t address, uint16_t length, int32_t data, const char **log = NULL)

Description
Add parameter for bulkWrite

Input

1. id : Set IDs
2. address : Set address of control table item
3. length : Set lengh of control table item
4. data : Set data

Output
If addParam instruction set successfully work, return true. If not, return false

bool addBulkWriteParam(uint8_t id, const char *item_name, int32_t data, const char **log = NULL)

Description
Add parameter for bulkWrite

Input

1. id : Set DYNAMIXEL ID for reference of control table
2. item_name : Set item name of control table item (ex, Goal_Position, Goal_Velocity,…)
3. data : Set data

Output
If addParam instruction set successfully work, return true. If not, return false

bool bulkWrite(const char **log = NULL)

Description
Execute bulkWrite

Input
Output
If txPacket instruction set successfully work, return true. If not, return false

bool initBulkRead(const char **log = NULL)

Description
Initialization bulkReadHandler

Input
Output
If portHanlder and packetHandler is loaded successfully work, return true. If not, return false

bool addBulkReadParam(uint8_t id, uint16_t address, uint16_t length, const char **log = NULL)

Description
Add parameter for bulkRead

Input

1. id : Set IDs
2. address : Set address of control table item
3. length : Set lengh of control table item
4. data : Set data

Output
If addParam instruction set successfully work, return true. If not, return false

bool addBulkReadParam(uint8_t id, const char *item_name, const char **log = NULL)

Description
Add parameter for bulkRead

Input

1. id : Set DYNAMIXEL ID for reference of control table
2. item_name : Set item name of control table item (ex, Goal_Position, Goal_Velocity,…)
3. data : Set data

Output
If addParam instruction set successfully work, return true. If not, return false

bool bulkRead(const char **log = NULL)

Description
Execute bulkRead

Input
Output
If txRxPacket instruction set successfully work, return true. If not, return false

bool getBulkReadData(int32_t *data, const char **log = NULL)

Description
Get data read by bulkRead function from all pinged DYNAMIXEL

Input

1. data : Get data

Output
If isAvailable instruction set successfully work, return true. If not, return false

bool getBulkReadData(uint8_t *id, uint8_t id_num, uint16_t *address, uint16_t *length, int32_t *data, const char **log = NULL)

Description
Get data read by bulkRead function from some DYNAMIXEL

Input

1. id : Set IDs
2. id_num : Set the number of IDs
3. address : Set address of control table item
4. length : Set lengh of control table item
5. data : Get data

Output
If isAvailable instruction set successfully work, return true. If not, return false

bool clearBulkReadParam(void)

Description
Clear every paramter for bulkRead

Input
Output
If clearParam instruction set successfully work, return true. If not, return false

bool torque(uint8_t id, bool onoff, const char **log = NULL)

Description
Set torque to DYNAMIXEL

Input

1. id : Set DYNAMIXEL ID
2. onoff : Set true or false

Output
If writeByteTxRx instruction set successfully work, return true. If not, return false

bool torqueOn(uint8_t id, const char **log = NULL)

Description
Set torque on to DYNAMIXEL

Input

1. id : Set DYNAMIXEL ID

Output
If writeByteTxRx instruction set successfully work, return true. If not, return false

bool torqueOff(uint8_t id, const char **log = NULL)

Description
Set torque off to DYNAMIXEL

Input

1. id : Set DYNAMIXEL ID

Output
If writeByteTxRx instruction set successfully work, return true. If not, return false

bool changeID(uint8_t id, uint8_t new_id, const char **log = NULL)

Description
Change DYNAMIXEL ID

Input

1. id : Set DYNAMIXEL ID
2. new_id : Set DYNAMIXEL new ID

Output
If writeByteTxRx instruction set successfully work, return true. If not, return false

bool changeBaudrate(uint8_t id, uint32_t new_baudrate, const char **log = NULL)

Description
Change baud rate of DYNAMIXEL

Input

1. id : Set DYNAMIXEL ID
2. new_baudrate : Set new baudrate for DYNAMIXEL

Output
If writeByteTxRx instruction set successfully work, return true. If not, return false

bool changeProtocolVersion(uint8_t id, uint8_t version, const char **log = NULL)

Description
Change protocol version of DYNAMIXEL

Input

1. id : Set DYNAMIXEL ID
2. version : Set protocol version for DYNAMIXEL

Output
If writeByteTxRx instruction set successfully work, return true. If not, return false

bool itemWrite(uint8_t id, const char *item_name, int32_t data, const char **log = NULL)

Description
Write data to control table item

Input

1. id : Set DYNAMIXEL ID
2. item_name : Set item name of control table item (ex, Goal_Position, Goal_Velocity,…)
3. data : Set data

Output
If writeByteTxRx instruction set successfully work, return true. If not, return false

bool itemRead(uint8_t id, const char *item_name, int32_t *data, const char **log = NULL)

Description
Read data to control table item

Input

1. id : Set DYNAMIXEL ID
2. item_name : Set item name of control table item (ex, Goal_Position, Goal_Velocity,…)
3. data : Get data

Output
If readByteTxRx instruction set successfully work, return true. If not, return false

bool led(uint8_t id, bool onoff, const char **log = NULL)

Description
Set led on or off to DYNAMIXEL

Input

1. id : Set DYNAMIXEL ID
2. onoff : Set true or false

Output
If writeByteTxRx instruction set successfully work, return true. If not, return false

bool ledOn(uint8_t id, const char **log = NULL)

Description
Set led on to DYNAMIXEL

Input

1. id : Set DYNAMIXEL ID

Output
If writeByteTxRx instruction set successfully work, return true. If not, return false

bool ledOff(uint8_t id, const char **log = NULL)

Description
Set led on or off to DYNAMIXEL

Input

1. id : Set DYNAMIXEL ID
2. onoff : Set true or false

Output
If writeByteTxRx instruction set successfully work, return true. If not, return false

bool setNormalDirection(uint8_t id, const char **log = NULL)

Description
Set DYNAMIXEL rotate with normal direction(counter clockwise)

Input

1. id : Set DYNAMIXEL ID

Output
If writeByteTxRx instruction set successfully work, return true. If not, return false

bool setReverseDirection(uint8_t id, const char **log = NULL)

Description
Set DYNAMIXEL rotate with reverse direction(clockwise)

Input

1. id : Set DYNAMIXEL ID

Output
If writeByteTxRx instruction set successfully work, return true. If not, return false

bool setVelocityBasedProfile(uint8_t id, const char **log = NULL)

Description
Set DYNAMIXEL will make velocity based profile

Input

1. id : Set DYNAMIXEL ID

Output
If writeByteTxRx instruction set successfully work, return true. If not, return false

bool setTimeBasedProfile(uint8_t id, const char **log = NULL)

Description
Set DYNAMIXEL will make time based profile

Input

1. id : Set DYNAMIXEL ID

Output
If writeByteTxRx instruction set successfully work, return true. If not, return false

bool setSecondaryID(uint8_t id, uint8_t secondary_id, const char **log = NULL)

Description
Set secondary ID to DYNAMIXEL

Input

1. id : Set DYNAMIXEL ID
2. secondary_id : Set DYNAMIXEL secondary ID

Output
If writeByteTxRx instruction set successfully work, return true. If not, return false

bool setCurrentControlMode(uint8_t id, const char **log = NULL)

Description
Set current control mode to DYNAMIXEL

Input

1. id : Set DYNAMIXEL ID

Output
If writeByteTxRx instruction set successfully work, return true. If not, return false

bool setTorqueControlMode(uint8_t id, const char **log = NULL)

Description
Set torque control mode to DYNAMIXEL

Input

1. id : Set DYNAMIXEL ID

Output
If writeByteTxRx instruction set successfully work, return true. If not, return false

bool setVelocityControlMode(uint8_t id, const char **log = NULL)

Description
Set velocity control mode to DYNAMIXEL

Input

1. id : Set DYNAMIXEL ID

Output
If writeByteTxRx instruction set successfully work, return true. If not, return false

bool setPositionControlMode(uint8_t id, const char **log = NULL)

Description
Set position control mode to DYNAMIXEL

Input

1. id : Set DYNAMIXEL ID

Output
If writeByteTxRx instruction set successfully work, return true. If not, return false

bool setExtendedPositionControlMode(uint8_t id, const char **log = NULL)

Description
Set extended position control mode to DYNAMIXEL

Input

1. id : Set DYNAMIXEL ID

Output
If writeByteTxRx instruction set successfully work, return true. If not, return false

bool setMultiTurnControlMode(uint8_t id, const char **log = NULL)

Description
Set multi-turn control mode to DYNAMIXEL

Input

1. id : Set DYNAMIXEL ID

Output
If writeByteTxRx instruction set successfully work, return true. If not, return false

bool setCurrentBasedPositionControlMode(uint8_t id, const char **log = NULL)

Description
Set current based position control mode to DYNAMIXEL

Input

1. id : Set DYNAMIXEL ID

Output
If writeByteTxRx instruction set successfully work, return true. If not, return false

bool setPWMControlMode(uint8_t id, const char **log = NULL)

Description
Set PWM control mode to DYNAMIXEL

Input

1. id : Set DYNAMIXEL ID

Output
If writeByteTxRx instruction set successfully work, return true. If not, return false

bool setOperatingMode(uint8_t id, uint8_t index, const char **log = NULL)

Description
Set operating mode to DYNAMIXEL

Input

1. id : Set DYNAMIXEL ID
2. index : Choose what you want to set operating mode

• Index list

  static const uint8_t CURRENT_CONTROL_MODE                  = 0;
  static const uint8_t VELOCITY_CONTROL_MODE                 = 1;
  static const uint8_t POSITION_CONTROL_MODE                 = 3;
  static const uint8_t EXTENDED_POSITION_CONTROL_MODE        = 4;
  static const uint8_t CURRENT_BASED_POSITION_CONTROL_MODE   = 5;
  static const uint8_t PWM_CONTROL_MODE                      = 16;
  static const uint8_t TORQUE_CONTROL_MODE                   = 100;
  static const uint8_t MULTI_TURN_MODE                       = 101;
  

Output
If writeByteTxRx instruction set successfully work, return true. If not, return false

bool jointMode(uint8_t id, int32_t velocity = 0, int32_t acceleration = 0, const char **log = NULL)

Description
Set joint mode to DYNAMIXEL. You can simply set joint mode to any DYNAMIXEL. After joint mode successfully set, torque will be on. The velocity and acceleration parameters will be used argument to make profile.

Input

1. id : Set DYNAMIXEL ID
2. velocity : Set profile velocity
3. acceleration : Set profile acceleration

Output
If writeByteTxRx instruction set successfully work, return true. If not, return false

bool wheelMode(uint8_t id, int32_t acceleration = 0, const char **log = NULL)

Description
Set wheel mode to DYNAMIXEL. You can simply set wheel mode to any DYNAMIXEL. After wheel mode successfully set, torque will be on. The acceleration parameters will be used argument to make profile.

Input

1. id : Set DYNAMIXEL ID
2. acceleration : Set profile acceleration

Output
If writeByteTxRx instruction set successfully work, return true. If not, return false

bool currentBasedPositionMode(uint8_t id, int32_t current = 0, const char **log = NULL)

Description
Set currrent based position mode to DYNAMIXEL. You can simply set joint mode controlled by current to DYNAMIXEL-X series. After mode successfully set, torque will be on. The current parameters will be used argument to make profile.

Input

1. id : Set DYNAMIXEL ID
2. current : Set current limit

Output
If writeByteTxRx instruction set successfully work, return true. If not, return false

bool goalPosition(uint8_t id, int32_t value, const char **log = NULL)

Description
Set position to DYNAMIXEL

Input

1. id : Set DYNAMIXEL ID
2. value : Set 32-bit raw value

Output
If writeByteTxRx instruction set successfully work, return true. If not, return false

bool goalPosition(uint8_t id, float radian, const char **log = NULL)

Description
Set position to DYNAMIXEL

Input

1. id : Set DYNAMIXEL ID
2. radian : Set position. Unit is radian

Output
If writeByteTxRx instruction set successfully work, return true. If not, return false

bool goalVelocity(uint8_t id, int32_t value, const char **log = NULL)

Description
Set velocity to DYNAMIXEL

Input

1. id : Set DYNAMIXEL ID
2. value : Set 32-bit raw value

Output
If writeByteTxRx instruction set successfully work, return true. If not, return false

bool goalVelocity(uint8_t id, float velocity, const char **log = NULL)

Description
Set velocity to DYNAMIXEL

Input

1. id : Set DYNAMIXEL ID
2. velocity : Set velocity. Unit is m/s

Output
If writeByteTxRx instruction set successfully work, return true. If not, return false

bool getPresentPositionData(uint8_t id, int32_t* data, const char **log = NULL)

Description
Get present position from DYNAMIXEL

Input

1. id : Set DYNAMIXEL ID
2. data : Get 32-bit raw data

Output
If writeByteTxRx instruction set successfully work, return true. If not, return false

bool getRadian(uint8_t id, float* radian, const char **log = NULL)

Description
Get present position from DYNAMIXEL

Input

1. id : Set DYNAMIXEL ID
2. radian : Get position. Unit is radian

Output
If writeByteTxRx instruction set successfully work, return true. If not, return false

bool getPresentVelocityData(uint8_t id, int32_t* data, const char **log = NULL)

Description
Get present velocity from DYNAMIXEL

Input

1. id : Set DYNAMIXEL ID
2. data : Get 32-bit raw data

Output
If writeByteTxRx instruction set successfully work, return true. If not, return false

bool getVelocity(uint8_t id, float* velocity, const char **log = NULL)

Description
Get present velocity from DYNAMIXEL

Input

1. id : Set DYNAMIXEL ID
2. velocity : Get velocity. Unit is m/s

Output
If writeByteTxRx instruction set successfully work, return true. If not, return false

int32_t convertRadian2Value(uint8_t id, float radian)

Description
Convert radian to 32-bit raw data

Input

1. id : Set DYNAMIXEL ID
2. radian : Set position. Unit is radian

Output
Return 32-bit raw data for DYNAMIXEL

float convertValue2Radian(uint8_t id, int32_t value)

Description
Convert 32-bit raw data to radian

Input

1. id : Set DYNAMIXEL ID
2. value : Get 32-bit raw data

Output
Return position. Unit is radian

int32_t convertRadian2Value(float radian, int32_t max_position, int32_t min_position, float max_radian, float min_radian)

Description
Convert radian to 32-bit raw data

Input

1. radian : Set position. Unit is radian
2. max_position : Set max position. Unit is 32-bit raw data
3. min_position : Set min position. Unit is 32-bit raw data
4. max_radian : Set max radian
5. min_radian : Set min radian

Output
Return 32-bit raw data for DYNAMIXEL

float convertValue2Radian(int32_t value, int32_t max_position, int32_t min_position, float max_radian, float min_radian)

Description
Convert 32-bit raw data to radian

Input

1. value : Set 32-bit raw data
2. max_position : Set max position. Unit is 32-bit raw data
3. min_position : Set min position. Unit is 32-bit raw data
4. max_radian : Set max radian
5. min_radian : Set min radian

Output
Return position. Unit is radian

int32_t convertVelocity2Value(uint8_t id, float velocity)

Description
Convert velocity to 32-bit raw data

Input

1. id : Set DYNAMIXEL ID
2. velocity : Set velocity. Unit is m/s

Output
Return 32-bit raw data

float convertValue2Velocity(uint8_t id, int32_t value)

Description
Convert 32-bit raw data to velocity

Input

1. id : Set DYNAMIXEL ID
2. value : Set 32-bit raw data

Output
Return velocity. Unit is m/s

int16_t convertCurrent2Value(float current)

Description
Convert current to 16-bit raw data.

Input

1. current : Set current. Unit is m/A

Output
Return 16-bit raw data

float convertValue2Current(int16_t value)

Description
Convert 16-bit raw data to current

Input

1. value : Set 16-bit raw data

Output
Return current. Unit is m/A

float convertValue2Load(int16_t value)

Description
Convert 16-bit raw data to load

Input

1. value : Set 16-bit raw data

Output
Return load. Unit is %