Header

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Functions
void	AX12A_SetCWComplianceMargin (Dynamixel_HandleTypeDef *hdynamixel, uint8_t CWcomplianceMargin)
	Sets the clockwise compliance margin for the current motor. More...
void	AX12A_SetCCWComplianceMargin (Dynamixel_HandleTypeDef *hdynamixel, uint8_t CCWcomplianceMargin)
	Sets the counter-clockwise compliance margin for the current motor. More...
void	AX12A_SetCWComplianceSlope (Dynamixel_HandleTypeDef *hdynamixel, uint8_t CWcomplianceSlope)
	Sets the clockwise compliance slope for the current motor. More...
void	AX12A_SetCCWComplianceSlope (Dynamixel_HandleTypeDef *hdynamixel, uint8_t CCWcomplianceSlope)
	Sets the counter-clockwise compliance slope for the current motor. More...
void	AX12A_SetComplianceSlope (Dynamixel_HandleTypeDef *hdynamixel, uint8_t complianceSlope)
	Sets both the CW and CCW compliance slope. More...
void	AX12A_SetComplianceMargin (Dynamixel_HandleTypeDef *hdynamixel, uint8_t complianceSlope)
	Sets both the CW and CCW compliance margin. More...

Variables
const uint8_t	AX12A_MAX_VELOCITY
const uint8_t	AX12A_DEFAULT_BAUD_RATE
const uint16_t	AX12A_DEFAULT_CCW_ANGLE_LIMIT
const uint8_t	AX12A_DEFAULT_HIGHEST_VOLTAGE_LIMIT
const uint8_t	AX12A_DEFAULT_CW_COMPLIANCE_MARGIN
const uint8_t	AX12A_DEFAULT_CCW_COMPLIANCE_MARGIN
const uint8_t	AX12A_DEFAULT_CW_COMPLIANCE_SLOPE
const uint8_t	AX12A_DEFAULT_CCW_COMPLIANCE_SLOPE
const uint16_t	AX12A_DEFAULT_PUNCH

Detailed Description

Function Documentation

AX12A_SetCCWComplianceMargin()

void AX12A_SetCCWComplianceMargin	(	Dynamixel_HandleTypeDef *	hdynamixel,
		uint8_t	CCWcomplianceMargin
	)

Sets the counter-clockwise compliance margin for the current motor.

The compliance margin is the acceptable error between the current position and goal position. The greater the value, the more error is acceptable

Instruction register address: 0x1B (RAM)

Default value: 0x01

Parameters

hdynamixel	pointer to a Dynamixel_HandleTypeDef structure that contains the configuration information for the motor
CCWcomplianceMargin	the acceptable error between the current and goal position. Arguments in range [0, 255]

Returns

None

Definition at line 119 of file AX12A.c.

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AX12A_SetCCWComplianceSlope()

void AX12A_SetCCWComplianceSlope	(	Dynamixel_HandleTypeDef *	hdynamixel,
		uint8_t	CCWcomplianceSlope
	)

Sets the counter-clockwise compliance slope for the current motor.

The compliance slope sets the level of torque near the goal position. The higher the value, the more flexibility that is obtained. That is, a high value means that as the goal position is approached, the torque will be significantly reduced. If a low value is used, then as the goal position is approached, the torque will not be reduced all that much

Instruction register address: 0x1D (RAM)

Default value: 0x20

Parameters

hdynamixel	pointer to a Dynamixel_HandleTypeDef structure that contains the configuration information for the motor
CCWcomplianceSlope	arguments in range [1, 7], with 1 being the least flexible

Returns

None

Definition at line 181 of file AX12A.c.

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AX12A_SetComplianceMargin()

void AX12A_SetComplianceMargin	(	Dynamixel_HandleTypeDef *	hdynamixel,
		uint8_t	complianceMargin
	)

Sets both the CW and CCW compliance margin.

"Sets the compliance margin for the current motor. The compliance margin is the acceptable error between the current position and goal position. The greater the value, the more error is acceptable"

Parameters

hdynamixel	pointer to a Dynamixel_HandleTypeDef structure that contains the configuration information for the motor
complianceMargin	the acceptable error between the current and goal position. Arguments in range [0, 255]

Returns

None

Definition at line 260 of file AX12A.c.

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AX12A_SetComplianceSlope()

void AX12A_SetComplianceSlope	(	Dynamixel_HandleTypeDef *	hdynamixel,
		uint8_t	complianceSlope
	)

Sets both the CW and CCW compliance slope.

"Sets the compliance slope for the current motor, which sets the level of torque near the goal position. The higher the value, the more flexibility that is obtained. That is, a high value means that as the goal position is approached, the torque will be significantly reduced. If a low value is used, then as the goal position is approached, the torque will not be reduced all that much"

Parameters

hdynamixel	pointer to a Dynamixel_HandleTypeDef structure that contains the configuration information for the motor
complianceSlope	arguments in range [1, 7], with 1 being the least flexible

Returns

None

Definition at line 243 of file AX12A.c.

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AX12A_SetCWComplianceMargin()

void AX12A_SetCWComplianceMargin	(	Dynamixel_HandleTypeDef *	hdynamixel,
		uint8_t	CWcomplianceMargin
	)

Sets the clockwise compliance margin for the current motor.

The compliance margin is the acceptable error between the current position and goal position. The greater the value, the more error is acceptable

Instruction register address: 0x1A (RAM)

Default value: 0x01

Parameters

hdynamixel	pointer to a Dynamixel_HandleTypeDef structure that contains the configuration information for the motor
CWcomplianceMargin	the acceptable error between the current and goal position. Arguments in range [0, 255]

Returns

None

Definition at line 96 of file AX12A.c.

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AX12A_SetCWComplianceSlope()

void AX12A_SetCWComplianceSlope	(	Dynamixel_HandleTypeDef *	hdynamixel,
		uint8_t	CWcomplianceSlope
	)

Sets the clockwise compliance slope for the current motor.

The compliance slope sets the level of torque near the goal position. The higher the value, the more flexibility that is obtained. That is, a high value means that as the goal position is approached, the torque will be significantly reduced. If a low value is used, then as the goal position is approached, the torque will not be reduced all that much

Instruction register address: 0x1C (RAM)

Default value: 0x20

Parameters

hdynamixel	pointer to a Dynamixel_HandleTypeDef structure that contains the configuration information for the motor
CWcomplianceSlope	arguments in range [1, 7], with 1 being the least flexible

Returns

None

Definition at line 145 of file AX12A.c.

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Variable Documentation

AX12A_DEFAULT_BAUD_RATE

const uint8_t AX12A_DEFAULT_BAUD_RATE

Default baud rate register setting

Definition at line 33 of file AX12A.c.

AX12A_DEFAULT_CCW_ANGLE_LIMIT

const uint16_t AX12A_DEFAULT_CCW_ANGLE_LIMIT

Default counter-clockwise angle limit

Definition at line 34 of file AX12A.c.

AX12A_DEFAULT_CCW_COMPLIANCE_MARGIN

const uint8_t AX12A_DEFAULT_CCW_COMPLIANCE_MARGIN

Default counter-clockwise compliance margin (position error)

Definition at line 37 of file AX12A.c.

AX12A_DEFAULT_CCW_COMPLIANCE_SLOPE

const uint8_t AX12A_DEFAULT_CCW_COMPLIANCE_SLOPE

Default counter-clockwise compliance slope (torque near goal position)

Definition at line 39 of file AX12A.c.

AX12A_DEFAULT_CW_COMPLIANCE_MARGIN

const uint8_t AX12A_DEFAULT_CW_COMPLIANCE_MARGIN

Default clockwise compliance margin (position error)

Definition at line 36 of file AX12A.c.

AX12A_DEFAULT_CW_COMPLIANCE_SLOPE

const uint8_t AX12A_DEFAULT_CW_COMPLIANCE_SLOPE

Default clockwise compliance slope (torque near goal position)

Definition at line 38 of file AX12A.c.

AX12A_DEFAULT_HIGHEST_VOLTAGE_LIMIT

const uint8_t AX12A_DEFAULT_HIGHEST_VOLTAGE_LIMIT

Default permitted maximum voltage (0xBE = 140 -> 14.0 V)

Definition at line 35 of file AX12A.c.

AX12A_DEFAULT_PUNCH

const uint16_t AX12A_DEFAULT_PUNCH

Default punch

Definition at line 40 of file AX12A.c.

AX12A_MAX_VELOCITY

const uint8_t AX12A_MAX_VELOCITY

Maximum angular velocity (RPM)

Definition at line 30 of file AX12A.c.