ProtocolDefinitions.hpp File Reference
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Defines | |
| #define | USER_VARIABLE_BANK 2 |
| #define | TMCL_APPL_STOP 128 |
| #define | TMCL_APPL_RUN 129 |
| #define | TMCL_APPL_RESET 131 |
| #define | MVP_ABS 0 |
| #define | MVP_REL 1 |
| #define | MVP_COORD 2 |
| #define | RFS_START 0 |
| #define | RFS_STOP 1 |
| #define | RFS_STATUS 2 |
| #define | TMCL_RESULT_OK 0 |
| #define | TMCL_RESULT_NOT_READY 1 |
| #define | TMCL_RESULT_CHECKSUM_ERROR 2 |
Typedefs | |
| typedef enum youbot::TMCLCommandNumber | CommandNumber |
Enumerations | |
| enum | TMCLCommandNumber { ROR = 1, ROL = 2, MST = 3, MVP = 4, SAP = 5, GAP = 6, STAP = 7, RSAP = 8, SGP = 9, GGP = 10, STGP = 11, RSGP = 12, RFS = 13, SIO = 14, GIO = 15, SCO = 30, GCO = 31, CCO = 32, FIRMWARE_VERSION = 136 } |
| enum | YouBotJointControllerMode { MOTOR_STOP = 0, POSITION_CONTROL = 1, VELOCITY_CONTROL = 2, NO_MORE_ACTION = 3, SET_POSITION_TO_REFERENCE = 4, CURRENT_MODE = 6, INITIALIZE = 7 } |
| enum | TMCLModuleAddress { DRIVE = 0, GRIPPER = 1 } |
| enum | MailboxErrorFlags { OVER_CURRENT = 0x1, UNDER_VOLTAGE = 0x2, OVER_VOLTAGE = 0x4, OVER_TEMPERATURE = 0x8, MOTOR_HALTED = 0x10, HALL_SENSOR_ERROR = 0x20, VELOCITY_MODE = 0x200, POSITION_MODE = 0x400, TORQUE_MODE = 0x800, POSITION_REACHED = 0x4000, INITIALIZED = 0x8000, TIMEOUT = 0x10000, I2T_EXCEEDED = 0x20000 } |
| enum | YouBotMailboxStatusFlags { NO_ERROR = 100, INVALID_COMMAND = 2, WRONG_TYPE = 3, INVALID_VALUE = 4, CONFIGURATION_EEPROM_LOCKED = 5, COMMAND_NOT_AVAILABLE = 6, REPLY_WRITE_PROTECTED = 8 } |
| enum | ParameterType { MOTOR_CONTOLLER_PARAMETER, API_PARAMETER } |
| enum | GripperErrorFlags { STALL_GUARD_STATUS = 0x1, GRIPPER_OVER_TEMPERATURE = 0x2, PRE_WARNING_OVER_TEMPERATURE = 0x4, SHORT_TO_GROUND_A = 0x8, SHORT_TO_GROUND_B = 0x10, OPEN_LOAD_A = 0x20, OPEN_LOAD_B = 0x40, STAND_STILL = 0x80 } |
Define Documentation
| #define MVP_ABS 0 |
Definition at line 88 of file ProtocolDefinitions.hpp.
| #define MVP_COORD 2 |
Definition at line 90 of file ProtocolDefinitions.hpp.
| #define MVP_REL 1 |
Definition at line 89 of file ProtocolDefinitions.hpp.
| #define RFS_START 0 |
Definition at line 93 of file ProtocolDefinitions.hpp.
| #define RFS_STATUS 2 |
Definition at line 95 of file ProtocolDefinitions.hpp.
| #define RFS_STOP 1 |
Definition at line 94 of file ProtocolDefinitions.hpp.
| #define TMCL_APPL_RESET 131 |
Definition at line 85 of file ProtocolDefinitions.hpp.
| #define TMCL_APPL_RUN 129 |
Definition at line 84 of file ProtocolDefinitions.hpp.
| #define TMCL_APPL_STOP 128 |
Definition at line 83 of file ProtocolDefinitions.hpp.
| #define TMCL_RESULT_CHECKSUM_ERROR 2 |
Definition at line 100 of file ProtocolDefinitions.hpp.
| #define TMCL_RESULT_NOT_READY 1 |
Definition at line 99 of file ProtocolDefinitions.hpp.
| #define TMCL_RESULT_OK 0 |
Definition at line 98 of file ProtocolDefinitions.hpp.
| #define USER_VARIABLE_BANK 2 |
Definition at line 80 of file ProtocolDefinitions.hpp.
