Header

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Functions
void	MX28_SetMultiTurnOffset (Dynamixel_HandleTypeDef *hdynamixel, int16_t offset)
	For an actuator in multi-turn mode, this applies a tunable offset to all positions. That is it allows you to change where the actuator considers position 0 to be. For an actuator not in multi-turn mode, this setting has no effect. More...
void	MX28_SetResolutionDivider (Dynamixel_HandleTypeDef *hdynamixel, uint8_t divider)
	Unimplemented. This function should change the resolution divider, allowing for more precise or less precise control settings depending on the value. More...
void	MX28_SetDGain (Dynamixel_HandleTypeDef *hdynamixel, uint8_t DGain)
	Sets the value of the derivative gain used in the motor's PID controller. More...
void	MX28_SetIGain (Dynamixel_HandleTypeDef *hdynamixel, uint8_t IGain)
	Sets the value of the integral gain used in the motor's PID controller. More...
void	MX28_SetPGain (Dynamixel_HandleTypeDef *hdynamixel, uint8_t PGain)
	Sets the value of the proportional gain used in the motor's PID controller. More...
void	MX28_SetGoalAcceleration (Dynamixel_HandleTypeDef *hdynamixel, float goalAcceleration)
	Sets the goal acceleration. The argument should be in units of degree/s^2. More...
void	MX28_EnterMultiTurnMode (Dynamixel_HandleTypeDef *hdynamixel)
	Activates multi-turn mode, which allows the actuator to have a range of controllable position values from -28672 to 28672. More...

Variables
const uint8_t	MX28_MAX_VELOCITY
const uint8_t	MX28_DEFAULT_BAUD_RATE
const uint16_t	MX28_DEFAULT_CCW_ANGLE_LIMIT
const uint8_t	MX28_DEFAULT_HIGHEST_VOLTAGE_LIMIT
const uint8_t	MX28_DEFAULT_D_GAIN
const uint8_t	MX28_DEFAULT_I_GAIN
const uint8_t	MX28_DEFAULT_P_GAIN
const uint16_t	MX28_DEFAULT_PUNCH

Detailed Description

Function Documentation

MX28_EnterMultiTurnMode()

void MX28_EnterMultiTurnMode

(

Dynamixel_HandleTypeDef *

hdynamixel

)

Activates multi-turn mode, which allows the actuator to have a range of controllable position values from -28672 to 28672.

Parameters

hdynamixel

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

Returns

None

Definition at line 238 of file MX28.c.

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MX28_SetDGain()

void MX28_SetDGain	(	Dynamixel_HandleTypeDef *	hdynamixel,
		uint8_t	DGain
	)

Sets the value of the derivative gain used in the motor's PID controller.

kD = DGain / 250

Parameters

hdynamixel	pointer to a Dynamixel_HandleTypeDef structure that contains the configuration information for the motor
DGain	the derivative gain parameter

Returns

None

Definition at line 137 of file MX28.c.

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MX28_SetGoalAcceleration()

void MX28_SetGoalAcceleration	(	Dynamixel_HandleTypeDef *	hdynamixel,
		float	goalAcceleration
	)

Sets the goal acceleration. The argument should be in units of degree/s^2.

Special: goalAcceleration of 0 means no control over accel (uses max acceleration of motor)

Parameters

hdynamixel	pointer to a Dynamixel_HandleTypeDef structure that contains the configuration information for the motor
goalAcceleration	the target acceleration in degree/s^2

Returns

None

Definition at line 186 of file MX28.c.

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MX28_SetIGain()

void MX28_SetIGain	(	Dynamixel_HandleTypeDef *	hdynamixel,
		uint8_t	IGain
	)

Sets the value of the integral gain used in the motor's PID controller.

kI = IGain * 125/256

Parameters

hdynamixel	pointer to a Dynamixel_HandleTypeDef structure that contains the configuration information for the motor
IGain	the integral gain parameter

Returns

None

Definition at line 153 of file MX28.c.

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MX28_SetMultiTurnOffset()

void MX28_SetMultiTurnOffset	(	Dynamixel_HandleTypeDef *	hdynamixel,
		int16_t	offset
	)

For an actuator in multi-turn mode, this applies a tunable offset to all positions. That is it allows you to change where the actuator considers position 0 to be. For an actuator not in multi-turn mode, this setting has no effect.

Parameters

hdynamixel	pointer to a Dynamixel_HandleTypeDef structure that contains the configuration information for the motor
offset	the signed offset argument indicating the offset value to program

Returns

None

Definition at line 100 of file MX28.c.

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MX28_SetPGain()

void MX28_SetPGain	(	Dynamixel_HandleTypeDef *	hdynamixel,
		uint8_t	PGain
	)

Sets the value of the proportional gain used in the motor's PID controller.

kP = PGain / 8

Parameters

hdynamixel	pointer to a Dynamixel_HandleTypeDef structure that contains the configuration information for the motor
PGain	the proportional gain parameter

Returns

None

Definition at line 169 of file MX28.c.

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MX28_SetResolutionDivider()

void MX28_SetResolutionDivider	(	Dynamixel_HandleTypeDef *	hdynamixel,
		uint8_t	divider
	)

Unimplemented. This function should change the resolution divider, allowing for more precise or less precise control settings depending on the value.

Parameters

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

Returns

None

Definition at line 124 of file MX28.c.

Variable Documentation

MX28_DEFAULT_BAUD_RATE

const uint8_t MX28_DEFAULT_BAUD_RATE

Default baud rate register setting

Definition at line 42 of file MX28.c.

MX28_DEFAULT_CCW_ANGLE_LIMIT

const uint16_t MX28_DEFAULT_CCW_ANGLE_LIMIT

Default counter-clockwise angle limit

Definition at line 43 of file MX28.c.

MX28_DEFAULT_D_GAIN

const uint8_t MX28_DEFAULT_D_GAIN

Default derivative gain parameter value

Definition at line 45 of file MX28.c.

MX28_DEFAULT_HIGHEST_VOLTAGE_LIMIT

const uint8_t MX28_DEFAULT_HIGHEST_VOLTAGE_LIMIT

Default permitted maximum voltage (0xA0 = 160 -> 16.0 V)

Definition at line 44 of file MX28.c.

MX28_DEFAULT_I_GAIN

const uint8_t MX28_DEFAULT_I_GAIN

Default integral gain parameter value

Definition at line 46 of file MX28.c.

MX28_DEFAULT_P_GAIN

const uint8_t MX28_DEFAULT_P_GAIN

Default proportional gain parameter value

Definition at line 47 of file MX28.c.

MX28_DEFAULT_PUNCH

const uint16_t MX28_DEFAULT_PUNCH

Default punch

Definition at line 48 of file MX28.c.

MX28_MAX_VELOCITY

const uint8_t MX28_MAX_VELOCITY

Maximum angular velocity (RPM)

Definition at line 39 of file MX28.c.