Rev 213 | Go to most recent revision | Details | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
---|---|---|---|
211 | dhylands | 1 | /**************************************************************************** |
2 | * |
||
3 | * Copyright (c) 2009 Dave Hylands <dhylands@gmail.com> |
||
4 | * |
||
5 | * This program is free software; you can redistribute it and/or modify |
||
6 | * it under the terms of the GNU General Public License version 2 as |
||
7 | * published by the Free Software Foundation. |
||
8 | * |
||
9 | * Alternatively, this software may be distributed under the terms of BSD |
||
10 | * license. |
||
11 | * |
||
12 | * See README and COPYING for more details. |
||
13 | * |
||
14 | ****************************************************************************/ |
||
15 | /** |
||
16 | * |
||
17 | * @file Bioloid.h |
||
18 | * |
||
19 | * @brief Contains some constants which are used by various bioloid classes. |
||
20 | * |
||
21 | ****************************************************************************/ |
||
22 | |||
23 | #if !defined( BIOLOID_H ) |
||
24 | #define BIOLOID_H /**< Include Guard */ |
||
25 | |||
26 | // ---- Include Files ------------------------------------------------------- |
||
27 | |||
28 | #include <stdint.h> |
||
29 | |||
30 | namespace Bioloid |
||
31 | { |
||
32 | typedef uint8_t ID_t; |
||
33 | |||
34 | enum |
||
35 | { |
||
36 | BROADCAST_ID = 0xFE, |
||
37 | INVALID_ID = 0xFF, |
||
38 | }; |
||
39 | |||
40 | enum Command |
||
41 | { |
||
42 | CMD_PING = 0x01, // Used to obatin a status packet |
||
43 | CMD_READ = 0x02, // Read values from the control table |
||
44 | CMD_WRITE = 0x03, // Write values to control table |
||
45 | CMD_REG_WRITE = 0x04, // Prime values to write when ACTION sent |
||
46 | CMD_ACTION = 0x05, // Triggers REG_WRITE |
||
47 | CMD_RESET = 0x06, // Changes control values back to factory defaults |
||
48 | |||
49 | CMD_SYNC_WRITE = 0x83 // Writes values to many devices |
||
50 | }; |
||
51 | |||
52 | enum Error |
||
53 | { |
||
54 | ERROR_RESERVED = 0x80, ///< Reserved - set to zero |
||
55 | ERROR_INSTRUCTION = 0x40, ///< Undefined instruction |
||
56 | ERROR_OVERLOAD = 0x20, ///< Max torque can't control applied load |
||
57 | ERROR_CHECKSUM = 0x10, ///< Checksum of instruction packet incorrect |
||
58 | ERROR_RANGE = 0x08, ///< Instruction is out of range |
||
59 | ERROR_OVERHEATING = 0x04, ///< Internal temperature is too high |
||
60 | ERROR_ANGLE_LIMIT = 0x02, ///< Goal position is outside of limit range |
||
61 | ERROR_INPUT_VOLTAGE = 0x01, ///< Input voltage out of range |
||
62 | ERROR_NONE = 0x00, ///< No Error |
||
63 | }; |
||
64 | }; |
||
65 | |||
66 | #endif // BIOLOID_H |