Register-setting functions. More...

Collaboration diagram for Setters:

Functions
void	Dynamixel_SetID (Dynamixel_HandleTypeDef *hdynamixel, uint8_t ID)
	Sets the ID (identification number) for the current motor. More...

void	Dynamixel_SetBaudRate (Dynamixel_HandleTypeDef *hdynamixel, uint32_t baud)
	Sets the baud rate of a particular motor. More...

void	Dynamixel_SetReturnDelayTime (Dynamixel_HandleTypeDef *hdynamixel, uint16_t microSec)
	Sets the time, in microseconds, that the motor should wait before returning a status packet. More...

void	Dynamixel_SetCWAngleLimit (Dynamixel_HandleTypeDef *hdynamixel, float minAngle)
	Sets the clockwise angle limit for the current motor. More...

void	Dynamixel_SetCCWAngleLimit (Dynamixel_HandleTypeDef *hdynamixel, float maxAngle)
	Sets the counter-clockwise angle limit for the current motor. More...

void	Dynamixel_SetHighestVoltageLimit (Dynamixel_HandleTypeDef *hdynamixel, float highestVoltage)
	Sets the highest operating voltage limit for the current motor. More...

void	Dynamixel_SetLowestVoltageLimit (Dynamixel_HandleTypeDef *hdynamixel, float lowestVoltage)
	Sets the lowest operating voltage limit for the current motor. More...

void	Dynamixel_SetMaxTorque (Dynamixel_HandleTypeDef *hdynamixel, float maxTorque)
	Sets the maximum torque limit for all motor operations. More...

void	Dynamixel_SetStatusReturnLevel (Dynamixel_HandleTypeDef *hdynamixel, uint8_t status_data)
	Sets the conditions under which a status packet will be returned. More...

void	Dynamixel_SetAlarmLED (Dynamixel_HandleTypeDef *hdynamixel, uint8_t alarm_LED_data)
	Sets the conditions under which the motor LED will light up. More...

void	Dynamixel_SetAlarmShutdown (Dynamixel_HandleTypeDef *hdynamixel, uint8_t alarm_shutdown_data)
	Sets the conditions under which the motor will turn off its torque. More...

void	Dynamixel_TorqueEnable (Dynamixel_HandleTypeDef *hdynamixel, uint8_t isEnabled)
	Enables or disables torque for current motor. More...

void	Dynamixel_LEDEnable (Dynamixel_HandleTypeDef *hdynamixel, uint8_t isEnabled)
	Toggles the motor LED. More...

void	Dynamixel_SetGoalPosition (Dynamixel_HandleTypeDef *hdynamixel, float goalAngle)
	Sets the goal position of the motor in RAM. More...

void	Dynamixel_SetGoalVelocity (Dynamixel_HandleTypeDef *hdynamixel, float goalVelocity)
	Sets the goal velocity of the motor in RAM. More...

void	Dynamixel_SetGoalTorque (Dynamixel_HandleTypeDef *hdynamixel, float goalTorque)
	Sets the torque limit for the motor in RAM. More...

void	Dynamixel_LockEEPROM (Dynamixel_HandleTypeDef *hdynamixel)
	Locks the EEPROM of the current motor until the next power cycle. More...

void	Dynamixel_SetPunch (Dynamixel_HandleTypeDef *hdynamixel, float punch)
	Sets a quantity proportional to the minimum current supplied to the motor during operation. More...

Detailed Description

Register-setting functions.

Setter functions

This subsection provides a set of functions which provide interfaces for setting motor register values.

Function Documentation

◆ Dynamixel_LEDEnable()

void Dynamixel_LEDEnable	(	Dynamixel_HandleTypeDef *	hdynamixel,
		uint8_t	isEnabled
	)

Toggles the motor LED.

Instruction register address: 0x19 (RAM)

     Default value: 0x00

Parameters

hdynamixel	pointer to a Dynamixel_HandleTypeDef structure that contains the configuration information for the motor
isEnabled	if 1, LED is on if 0, LED is off

Returns: None

Definition at line 551 of file DynamixelProtocolV1.c.

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◆ Dynamixel_LockEEPROM()

void Dynamixel_LockEEPROM ( Dynamixel_HandleTypeDef * hdynamixel )

Locks the EEPROM of the current motor until the next power cycle.

Instruction register address: 0x2F (RAM)

     Default value: 0x00

Parameters

hdynamixel pointer to a Dynamixel_HandleTypeDef structure that contains the configuration information for the motor

Returns: None

Definition at line 715 of file DynamixelProtocolV1.c.

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◆ Dynamixel_SetAlarmLED()

void Dynamixel_SetAlarmLED	(	Dynamixel_HandleTypeDef *	hdynamixel,
		uint8_t	alarm_LED_data
	)

Sets the conditions under which the motor LED will light up.

Register bits may be set simultaneously.

     Register address: 0x11 (EEPROM)

     Default value: 0x24 (0b00100100)

Parameters

hdynamixel pointer to a Dynamixel_HandleTypeDef structure that contains the configuration information for the motor

alarm_LED_data

the bits indicate the following:

bit 7: no function
bit 6: flash LED when an instruction error occurs
bit 5: flash LED when current load cannot be controlled with the specified maximum torque
bit 4: flash LED when the checksum of the transmitted packet is invalid
bit 3: flash LED when the command is given beyond the range of usage
bit 2: flash LED when the internal temperature exceeds the operating range
bit 1: flash LED when goal position exceeds the CW angle limit or CCW angle limit
bit 0: flash LED when applied voltage is out of operating range

Returns: None

Definition at line 477 of file DynamixelProtocolV1.c.

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◆ Dynamixel_SetAlarmShutdown()

void Dynamixel_SetAlarmShutdown	(	Dynamixel_HandleTypeDef *	hdynamixel,
		uint8_t	alarm_shutdown_data
	)

Sets the conditions under which the motor will turn off its torque.

Register bits may be set simultaneously

     Register address: 0x12 (EEPROM)

     Default value: 0x24 (0b00100100)

Parameters

hdynamixel pointer to a Dynamixel_HandleTypeDef structure that contains the configuration information for the motor

alarm_shutdown_data

the bits indicate the following:

bit 7: no function
bit 6: torque off when an instruction error occurs
bit 5: torque off when current load cannot be controlled with the specified maximum torque
bit 4: torque off when the checksum of the transmitted packet is invalid
bit 3: torque off when the command is given beyond the range of usage
bit 2: torque off when the internal temperature exceeds the operating range
bit 1: torque off when goal position exceeds the CW angle limit or CCW angle limit
bit 0: torque off when applied voltage is out of operating range

Returns: None

Definition at line 509 of file DynamixelProtocolV1.c.

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◆ Dynamixel_SetBaudRate()

void Dynamixel_SetBaudRate	(	Dynamixel_HandleTypeDef *	hdynamixel,
		uint32_t	baud
	)

Sets the baud rate of a particular motor.

Register address is 0x04 in motor EEPROM

     Instruction register address: 0x04 (EEPROM)

     Default value: 0x01

Parameters

hdynamixel	pointer to a Dynamixel_HandleTypeDef structure that contains the configuration information for the motor
baud	the baud rate. Arguments in range [7844, 1000000] are valid

Returns: None

Definition at line 169 of file DynamixelProtocolV1.c.

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◆ Dynamixel_SetCCWAngleLimit()

void Dynamixel_SetCCWAngleLimit	(	Dynamixel_HandleTypeDef *	hdynamixel,
		float	maxAngle
	)

Sets the counter-clockwise angle limit for the current motor.

If maxAngle for CCW angle limit is 0 AND minAngle for CW angle limit is 0, then motor is in wheel mode where it can continuously rotate. Otherwise, motor is in joint mode where its motion is constrained between the set bounds.

Register 0x08 in EEPROM for low byte, 0x09 in EEPROM for high byte

Instruction register address: 0x08 (EEPROM)

Default value: 0x03FF

Parameters

hdynamixel	pointer to a Dynamixel_HandleTypeDef structure that contains the configuration information for the motor
maxAngle	the maximum angle for all motor operations. Arguments between 0 and 300 are valid

Returns: None

Definition at line 303 of file DynamixelProtocolV1.c.

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◆ Dynamixel_SetCWAngleLimit()

void Dynamixel_SetCWAngleLimit	(	Dynamixel_HandleTypeDef *	hdynamixel,
		float	minAngle
	)

Sets the clockwise angle limit for the current motor.

If maxAngle for CCW angle limit is 0 AND minAngle for CW angle limit is 0, then motor is in wheel mode where it can continuously rotate. Otherwise, motor is in joint mode where its motion is constrained between the set bounds.

Register 0x06 in EEPROM for low byte, 0x07 in EEPROM for high byte

Instruction register address: 0x06 (EEPROM)

Default value: 0x0000

Parameters

hdynamixel	pointer to a Dynamixel_HandleTypeDef structure that contains the configuration information for the motor
minAngle	the minimum angle for all motor operations. Arguments between 0 and 300 are valid

Returns: None

Definition at line 261 of file DynamixelProtocolV1.c.

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◆ Dynamixel_SetGoalPosition()

void Dynamixel_SetGoalPosition	(	Dynamixel_HandleTypeDef *	hdynamixel,
		float	goalAngle
	)

Sets the goal position of the motor in RAM.

Takes a double between 0 and 300, encodes this position in an upper and low hex byte pair (with a maximum of 1023 as defined in the AX-12 user manual), and sends this information (along with requisites) over UART. Low byte is 0x1E in motor RAM, high byte is 0x1F in motor RAM.

Instruction register address: 0x1E (RAM)

Default value: None

Parameters

hdynamixel	pointer to a Dynamixel_HandleTypeDef structure that contains the configuration information for the motor
goalAngle	the desired angular position. Arguments between 0 and 300 are valid. Note that 150 corresponds to the middle position

Returns: None

Definition at line 579 of file DynamixelProtocolV1.c.

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◆ Dynamixel_SetGoalTorque()

void Dynamixel_SetGoalTorque	(	Dynamixel_HandleTypeDef *	hdynamixel,
		float	goalTorque
	)

Sets the torque limit for the motor in RAM.

The initial value is taken from 0x0E and 0x0F (max torque in EEPROM)

Low byte is 0x22 in motor RAM, high byte is 0x23 in motor RAM.

Instruction register address: 0x22 (RAM)

Default value: ADDR14 (low byte) and ADDR15 (high byte)

Parameters

hdynamixel	pointer to a Dynamixel_HandleTypeDef structure that contains the configuration information for the motor
goalTorque	the percentage of the maximum possible torque (max: 100). Gets converted into a 10-bit number

Returns: None

Definition at line 694 of file DynamixelProtocolV1.c.

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◆ Dynamixel_SetGoalVelocity()

void Dynamixel_SetGoalVelocity	(	Dynamixel_HandleTypeDef *	hdynamixel,
		float	goalVelocity
	)

Sets the goal velocity of the motor in RAM.

Low byte is 0x20 in motor RAM, high byte is 0x21 in motor RAM

     Instruction register address: 0x20 (RAM)

     Default value: None

Parameters

hdynamixel	pointer to a Dynamixel_HandleTypeDef structure that contains the configuration information for the motor
goalVelocity	the goal velocity in RPM. Arguments of 0-114 are valid when in joint mode. 0 corresponds to MAX motion in joint mode, and minimum motion in wheel mode. In wheel mode, negative arguments correspond to CW rotation

Returns: None

Definition at line 626 of file DynamixelProtocolV1.c.

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◆ Dynamixel_SetHighestVoltageLimit()

void Dynamixel_SetHighestVoltageLimit	(	Dynamixel_HandleTypeDef *	hdynamixel,
		float	highestVoltage
	)

Sets the highest operating voltage limit for the current motor.

Instruction register address: 0x0C (EEPROM)

     Default value: 140 (0xBE)

Parameters

hdynamixel	pointer to a Dynamixel_HandleTypeDef structure that contains the configuration information for the motor
highestVoltage	the highest operating voltage in volts

Returns: None

Definition at line 345 of file DynamixelProtocolV1.c.

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◆ Dynamixel_SetID()

void Dynamixel_SetID	(	Dynamixel_HandleTypeDef *	hdynamixel,
		uint8_t	ID
	)

Sets the ID (identification number) for the current motor.

Note that the instruction will be broadcasted using the current ID. As such, if the ID is not known, the motor ID should be initialized to the broadcast ID (0xFE) in the Dynamixel_Init function

Instruction register address: 0x03 (EEPROM) Default value: 1

Parameters

hdynamixel	pointer to a Dynamixel_HandleTypeDef structure that contains the configuration information for the motor
ID	the number between 0 and 252 or equal to 254 to identify the motor. If 0xFE (254), any messages broadcasted to that ID will be broadcasted to all motors

Returns: None

Definition at line 143 of file DynamixelProtocolV1.c.

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◆ Dynamixel_SetLowestVoltageLimit()

void Dynamixel_SetLowestVoltageLimit	(	Dynamixel_HandleTypeDef *	hdynamixel,
		float	lowestVoltage
	)

Sets the lowest operating voltage limit for the current motor.

Instruction register address: 0x0D (EEPROM)

     Default value: 60 (0x3C)

Parameters

hdynamixel	pointer to a Dynamixel_HandleTypeDef structure that contains the configuration information for the motor
lowestVoltage	the lowest operating voltage in volts

Returns: None

Definition at line 377 of file DynamixelProtocolV1.c.

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◆ Dynamixel_SetMaxTorque()

void Dynamixel_SetMaxTorque	(	Dynamixel_HandleTypeDef *	hdynamixel,
		float	maxTorque
	)

Sets the maximum torque limit for all motor operations.

Low byte is addr 0x0E in motor RAM, high byte is addr 0x0F in motor RAM

Register address: 0x0E (EEPROM)

Default value: 0x3FF

Parameters

hdynamixel	pointer to a Dynamixel_HandleTypeDef structure that contains the configuration information for the motor
maxTorque	the maximum torque as a percentage (max: 100). Gets converted to 10-bit number

Returns: None

Definition at line 408 of file DynamixelProtocolV1.c.

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◆ Dynamixel_SetPunch()

void Dynamixel_SetPunch	(	Dynamixel_HandleTypeDef *	hdynamixel,
		float	punch
	)

Sets a quantity proportional to the minimum current supplied to the motor during operation.

Units are not specified in the datasheet, and therefore this function is not entirely useful without sufficient testing

Low byte at address 0x30 and high byte at address 0x31

Instruction register address: 0x30

Default value: 0x0020 (maximum: 0x3FF)

Parameters

hdynamixel	pointer to a Dynamixel_HandleTypeDef structure that contains the configuration information for the motor
punch	for now, arguments in range [0, 1023] are valid

Returns: None

Definition at line 737 of file DynamixelProtocolV1.c.

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◆ Dynamixel_SetReturnDelayTime()

void Dynamixel_SetReturnDelayTime	(	Dynamixel_HandleTypeDef *	hdynamixel,
		uint16_t	microSec
	)

Sets the time, in microseconds, that the motor should wait before returning a status packet.

Instruction register address: 0x05(EEPROM)

     Default value: 250 (0xFA)

Parameters

hdynamixel	pointer to a Dynamixel_HandleTypeDef structure that contains the configuration information for the motor
microSec	the time in microseconds to delay. Arguments in range [2, 508] are valid. Default: 500

Returns: None

Definition at line 228 of file DynamixelProtocolV1.c.

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◆ Dynamixel_SetStatusReturnLevel()

void Dynamixel_SetStatusReturnLevel	(	Dynamixel_HandleTypeDef *	hdynamixel,
		uint8_t	status_data
	)

Sets the conditions under which a status packet will be returned.

Register address: 0x10 (EEPROM)

     Default value: 0x02

Parameters

hdynamixel	pointer to a Dynamixel_HandleTypeDef structure that contains the configuration information for the motor
status_data	0 to return only on ping 1 to return only for reads 2 to return for all commands

Returns: None

Definition at line 440 of file DynamixelProtocolV1.c.

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◆ Dynamixel_TorqueEnable()

void Dynamixel_TorqueEnable	(	Dynamixel_HandleTypeDef *	hdynamixel,
		uint8_t	isEnabled
	)

Enables or disables torque for current motor.

Instruction register address: 0x18 (RAM)

     Default value: 0x00

Parameters

hdynamixel	pointer to a Dynamixel_HandleTypeDef structure that contains the configuration information for the motor
isEnabled	if 1, then generates torque by impressing power to the motor if 0, then interrupts power to the motor to prevent it from generating torque

Returns: None

Definition at line 528 of file DynamixelProtocolV1.c.

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Functions

Detailed Description

Setter functions

Function Documentation

◆ Dynamixel_LEDEnable()

◆ Dynamixel_LockEEPROM()

◆ Dynamixel_SetAlarmLED()

◆ Dynamixel_SetAlarmShutdown()

◆ Dynamixel_SetBaudRate()

◆ Dynamixel_SetCCWAngleLimit()

◆ Dynamixel_SetCWAngleLimit()

◆ Dynamixel_SetGoalPosition()

◆ Dynamixel_SetGoalTorque()

◆ Dynamixel_SetGoalVelocity()

◆ Dynamixel_SetHighestVoltageLimit()

◆ Dynamixel_SetID()

◆ Dynamixel_SetLowestVoltageLimit()

◆ Dynamixel_SetMaxTorque()

◆ Dynamixel_SetPunch()

◆ Dynamixel_SetReturnDelayTime()

◆ Dynamixel_SetStatusReturnLevel()

◆ Dynamixel_TorqueEnable()