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Add support for X series #51

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Add support for X series #51

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286423e
Add support for X series
dogoepp May 23, 2018
0dba1ab
Merge branch 'master' into x-series
dogoepp May 25, 2018
280f3a3
quickfix about an extra field
dogoepp May 29, 2018
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4 changes: 4 additions & 0 deletions CHANGELOG.md
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@@ -1,3 +1,7 @@
## May, 16th 2018

- [New model] Add (almost complete) support for the servo-motors in the X series

## March, 26th 2018

- [Improvement] Add support to MX series using protocol 2
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24 changes: 21 additions & 3 deletions src/dynamixel/auto_detect.hpp
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Expand Up @@ -65,23 +65,41 @@ namespace dynamixel {
return std::make_shared<servos::Mx64P2>(id);
case servos::Mx106P2::ct_t::model_number_value:
return std::make_shared<servos::Mx106P2>(id);
case servos::Xm430W210::ct_t::model_number_value:
return std::make_shared<servos::Xm430W210>(id);
case servos::Xm430W250::ct_t::model_number_value:
return std::make_shared<servos::Xm430W250>(id);
case servos::Xm430W350::ct_t::model_number_value:
return std::make_shared<servos::Xm430W350>(id);
case servos::Xm540W150::ct_t::model_number_value:
return std::make_shared<servos::Xm540W150>(id);
case servos::Xm540W270::ct_t::model_number_value:
return std::make_shared<servos::Xm540W270>(id);
case servos::Xh430W210::ct_t::model_number_value:
return std::make_shared<servos::Xh430W210>(id);
case servos::Xh430W350::ct_t::model_number_value:
return std::make_shared<servos::Xh430W350>(id);
case servos::Xh430V210::ct_t::model_number_value:
return std::make_shared<servos::Xh430V210>(id);
case servos::Xh430V350::ct_t::model_number_value:
return std::make_shared<servos::Xh430V350>(id);
default:
throw errors::Error("Unrecognized model number");
}
}

/** Send a ping to an ID. If it is answered, read the actuator model and
instanciate a class of the correct type.
instantiate a class of the correct type.

@param id value, from 1 to 254 identifiying an actuator
@param id value, from 1 to 254 identifying an actuator

@return std::shared_ptr to a servo object if we got an answer
**/
template <typename Protocol, typename Controller>
inline std::shared_ptr<servos::BaseServo<Protocol>>
find_servo(const Controller& controller, typename Protocol::id_t id)
{
// Dummy variable used only to differenciate between the two version of
// Dummy variable used only to differentiate between the two version of
// get_servo (protocol 1 or 2)
typename Protocol::address_t selected_protocol = 0;

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9 changes: 9 additions & 0 deletions src/dynamixel/servos.hpp
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Expand Up @@ -13,6 +13,15 @@
#include "servos/mx106.hpp"
#include "servos/mx106_p2.hpp"
#include "servos/xl320.hpp"
#include "servos/xm430_w210.hpp"
#include "servos/xm430_w250.hpp"
#include "servos/xm430_w350.hpp"
#include "servos/xm540_w150.hpp"
#include "servos/xm540_w270.hpp"
#include "servos/xh430_w210.hpp"
#include "servos/xh430_w350.hpp"
#include "servos/xh430_v210.hpp"
#include "servos/xh430_v350.hpp"
#include "servos/pro_h54_200_s500.hpp"
#include "servos/pro_h54_100_s500.hpp"
#include "servos/pro_h42_20_s300.hpp"
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181 changes: 181 additions & 0 deletions src/dynamixel/servos/xh430_v210.hpp
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#ifndef DYNAMIXEL_SERVOS_XH430V210_HPP_
#define DYNAMIXEL_SERVOS_XH430V210_HPP_

#include <stdint.h>

#include "servo.hpp"
#include "../protocols/protocol2.hpp"

namespace dynamixel {
namespace servos {
class Xh430V210;

template <>
struct ModelTraits<Xh430V210> {
typedef protocols::Protocol2 protocol_t;

struct CT {
static const protocol_t::address_t model_number = 0;
typedef uint16_t model_number_t;
static const model_number_t model_number_value = 1050;
static const protocol_t::address_t model_info = 2;
typedef uint32_t model_info_t;
static const protocol_t::address_t firmware_version = 6;
typedef uint8_t firmware_version_t;
static const protocol_t::address_t id = 7;
typedef protocol_t::id_t id_t;
static const protocol_t::address_t baudrate = 8;
typedef uint8_t baudrate_t;
static const protocol_t::address_t return_delay_time = 9;
typedef uint8_t return_delay_time_t;
static const protocol_t::address_t drive_mode = 10;
typedef uint8_t drive_mode_t;
static const protocol_t::address_t operating_mode = 11;
typedef uint8_t operating_mode_t;
static const protocol_t::address_t secondary_id = 12;
typedef uint8_t secondary_id_t;
static const protocol_t::address_t protocol_version = 13;
typedef uint8_t protocol_version_t;
static const protocol_t::address_t homing_offset = 20;
typedef uint32_t homing_offset_t;
static const protocol_t::address_t moving_threshold = 24;
typedef uint32_t moving_threshold_t;
static const protocol_t::address_t highest_temperature_limit = 31;
typedef uint8_t highest_temperature_limit_t;
static const protocol_t::address_t highest_voltage_limit = 32;
typedef uint16_t highest_voltage_limit_t;
static const protocol_t::address_t lowest_voltage_limit = 34;
typedef uint16_t lowest_voltage_limit_t;
static const protocol_t::address_t pwm_limit = 36;
typedef uint16_t pwm_limit_t;
static const protocol_t::address_t current_limit = 38;
typedef uint16_t current_limit_t;
static const protocol_t::address_t acceleration_limit = 40;
typedef uint32_t acceleration_limit_t;
static const protocol_t::address_t speed_limit = 44;
typedef uint32_t speed_limit_t;
static const protocol_t::address_t max_position_limit = 48;
typedef int32_t max_position_limit_t;
static const protocol_t::address_t min_position_limit = 52;
typedef int32_t min_position_limit_t;
static const protocol_t::address_t alarm_shutdown = 63;
typedef uint8_t alarm_shutdown_t;
static const protocol_t::address_t torque_enable = 64;
typedef uint8_t torque_enable_t;
static const protocol_t::address_t led = 65;
typedef uint8_t led_t;
static const protocol_t::address_t status_return_level = 68;
typedef uint8_t status_return_level_t;
static const protocol_t::address_t registered = 69;
typedef uint8_t registered_t;
static const protocol_t::address_t hardware_error_status = 70;
typedef uint8_t hardware_error_status_t;
static const protocol_t::address_t velocity_i_gain = 76;
typedef uint16_t velocity_i_gain_t;
static const protocol_t::address_t velocity_p_gain = 78;
typedef uint16_t velocity_p_gain_t;
static const protocol_t::address_t position_d_gain = 80;
typedef uint16_t position_d_gain_t;
static const protocol_t::address_t position_i_gain = 82;
typedef uint16_t position_i_gain_t;
static const protocol_t::address_t position_p_gain = 84;
typedef uint16_t position_p_gain_t;
static const protocol_t::address_t feedforward_2nd_gain = 88;
typedef uint16_t feedforward_2nd_gain_t;
static const protocol_t::address_t feedforward_1st_gain = 90;
typedef uint16_t feedforward_1st_gain_t;
static const protocol_t::address_t bus_watchdog = 98;
typedef uint8_t bus_watchdog_t;
static const protocol_t::address_t goal_pwm = 100;
typedef uint16_t goal_pwm_t;
static const protocol_t::address_t goal_current = 102;
typedef uint16_t goal_current_t;
static const protocol_t::address_t moving_speed = 104;
typedef uint32_t moving_speed_t;
static const moving_speed_t min_goal_speed = INT32_MIN;
static const moving_speed_t max_goal_speed = INT32_MAX;
static constexpr double rpm_per_tick = 0.229;
static const bool speed_sign_bit = false;
static const protocol_t::address_t profile_acceleration = 108;
typedef uint32_t profile_acceleration_t;
static const protocol_t::address_t profile_speed = 112;
typedef uint32_t profile_speed_t;
static const protocol_t::address_t goal_position = 116;
typedef int32_t goal_position_t;
static const goal_position_t min_goal_position = 0;
static const goal_position_t max_goal_position = 4095;
static const uint32_t min_goal_angle_deg = 0;
static const uint32_t max_goal_angle_deg = 360;
static const protocol_t::address_t realtime_tick = 120;
typedef uint16_t realtime_tick_t;
static const protocol_t::address_t moving = 122;
typedef uint8_t moving_t;
static const protocol_t::address_t moving_status = 123;
typedef uint8_t moving_status_t;
static const protocol_t::address_t present_pwm = 124;
typedef uint16_t present_pwm_t;
static const protocol_t::address_t current = 126;
typedef uint16_t current_t;
static const protocol_t::address_t present_speed = 128;
typedef int32_t present_speed_t;
static const protocol_t::address_t present_position = 132;
typedef int32_t present_position_t;
static const protocol_t::address_t speed_trajectory = 136;
typedef int32_t speed_trajectory_t;
static const protocol_t::address_t position_trajectory = 140;
typedef int32_t position_trajectory_t;
static const protocol_t::address_t present_voltage = 144;
typedef uint16_t present_voltage_t;
static const protocol_t::address_t present_temperature = 146;
typedef uint8_t present_temperature_t;
};
};

class Xh430V210 : public Servo<Xh430V210> {
public:
typedef Xh430V210 Model;

Xh430V210(typename protocol_t::id_t id) : Servo<Xh430V210>(id){};

MODEL_NAME(Xh430V210);

// Here we add the fields that are not common to all dynamixels
READ_FIELD(model_info);
READ_WRITE_FIELD(drive_mode);
READ_WRITE_FIELD(operating_mode);
READ_WRITE_FIELD(secondary_id);
READ_WRITE_FIELD(protocol_version);
READ_WRITE_FIELD(homing_offset);
READ_WRITE_FIELD(moving_threshold);
READ_WRITE_FIELD(pwm_limit);
READ_WRITE_FIELD(current_limit);
READ_WRITE_FIELD(acceleration_limit);
READ_WRITE_FIELD(speed_limit);
READ_WRITE_FIELD(max_position_limit);
READ_WRITE_FIELD(min_position_limit);
READ_WRITE_FIELD(led);
READ_FIELD(registered);
READ_FIELD(hardware_error_status);
READ_WRITE_FIELD(velocity_i_gain);
READ_WRITE_FIELD(velocity_p_gain);
READ_WRITE_FIELD(position_d_gain);
READ_WRITE_FIELD(position_i_gain);
READ_WRITE_FIELD(position_p_gain);
READ_WRITE_FIELD(feedforward_2nd_gain);
READ_WRITE_FIELD(feedforward_1st_gain);
READ_WRITE_FIELD(bus_watchdog);
READ_WRITE_FIELD(goal_pwm);
READ_WRITE_FIELD(goal_current);
READ_WRITE_FIELD(profile_acceleration);
READ_WRITE_FIELD(profile_speed);
READ_FIELD(realtime_tick);
READ_FIELD(moving_status);
READ_FIELD(present_pwm);
// READ_FIELD(current);
READ_FIELD(speed_trajectory);
READ_FIELD(position_trajectory);
};
}
}

#endif
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