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