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Dynamixel2Arduino.cpp
1433 lines (1202 loc) · 42.9 KB
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Dynamixel2Arduino.cpp
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/*******************************************************************************
* Copyright 2016 ROBOTIS CO., LTD.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/
#include "Dynamixel2Arduino.h"
#include "actuator.h"
using namespace DYNAMIXEL;
namespace DYNAMIXEL{
enum Functions{
SET_ID,
SET_BAUD_RATE,
SET_PROTOCOL,
SET_POSITION,
GET_POSITION,
SET_VELOCITY,
GET_VELOCITY,
SET_PWM,
GET_PWM,
SET_CURRENT,
GET_CURRENT,
LAST_DUMMY_FUNC = 0xFF
};
}
typedef struct ModelDependencyFuncItemAndRangeInfo{
uint8_t func_idx; //enum Functions
uint8_t item_idx; //enum ControlTableItem
uint8_t unit_type; //enum ParamUnit
int32_t min_value;
int32_t max_value;
float unit_value;
} ModelDependencyFuncItemAndRangeInfo_t;
typedef struct ItemAndRangeInfo{
uint8_t item_idx; //enum ControlTableItem
uint8_t unit_type; //enum ParamUnit
int32_t min_value;
int32_t max_value;
float unit_value;
} ItemAndRangeInfo_t;
static ItemAndRangeInfo_t getModelDependencyFuncInfo(uint16_t model_num, uint8_t func_num);
static float f_map(float x, float in_min, float in_max, float out_min, float out_max);
static bool checkAndconvertWriteData(float in_data, int32_t &out_data, uint8_t unit, ItemAndRangeInfo_t &item_info);
static bool checkAndconvertReadData(int32_t in_data, float &out_data, uint8_t unit, ItemAndRangeInfo_t &item_info);
Dynamixel2Arduino::Dynamixel2Arduino(HardwareSerial& port, int dir_pin)
: Master(), dxl_port_(port, dir_pin)
{
setPort(dxl_port_);
}
/* For Master configuration */
void Dynamixel2Arduino::begin(unsigned long baud)
{
dxl_port_.begin(baud);
}
unsigned long Dynamixel2Arduino::getPortBaud() const
{
return dxl_port_.getBaud();
}
bool Dynamixel2Arduino::scan()
{
bool ret = true;
ret = ping();
return ret;
}
bool Dynamixel2Arduino::ping(uint8_t id)
{
bool ret = false;
uint8_t i;
if (id == DXL_BROADCAST_ID){
RecvInfoFromPing_t recv_info;
registered_dxl_cnt_ = 0;
if(Master::ping(DXL_BROADCAST_ID, recv_info, 3*253) == true){
for (i=0; i<recv_info.id_count && registered_dxl_cnt_<DXL_MAX_NODE; i++){
registered_dxl_[registered_dxl_cnt_].id = recv_info.xel[i].id;
if(getPortProtocolVersion() == 2.0){
registered_dxl_[registered_dxl_cnt_].model_num = recv_info.xel[i].model_number;
}else{
registered_dxl_[registered_dxl_cnt_].model_num = getModelNumber(recv_info.xel[i].id);
}
registered_dxl_cnt_++;
}
ret = true;
}
}else{
XelInfoFromPing_t recv_info;
if(Master::ping(id, &recv_info, 1, 20) > 0){
if(recv_info.id != id)
return false;
for (i=0; i<registered_dxl_cnt_; i++){
if (registered_dxl_[i].id == id)
return true;
}
if (registered_dxl_cnt_ < DXL_MAX_NODE){
registered_dxl_[registered_dxl_cnt_].id = id;
if(getPortProtocolVersion() == 2.0){
registered_dxl_[registered_dxl_cnt_].model_num = recv_info.model_number;
}else{
registered_dxl_[registered_dxl_cnt_].model_num = getModelNumber(id);
}
registered_dxl_cnt_++;
ret = true;
}
else{
ret = false;
}
}
}
return ret;
}
uint16_t Dynamixel2Arduino::getModelNumber(uint8_t id)
{
uint16_t model_num = 0xFFFF;
(void) read(id, COMMON_MODEL_NUMBER_ADDR, COMMON_MODEL_NUMBER_ADDR_LENGTH,
(uint8_t*)&model_num, sizeof(model_num), 20);
return model_num;
}
bool Dynamixel2Arduino::setID(uint8_t id, uint8_t new_id)
{
return writeControlTableItem(ControlTableItem::ID, id, new_id);
}
bool Dynamixel2Arduino::setProtocol(uint8_t id, float version)
{
uint8_t ver_idx;
if(version == DXL_PACKET_VER_1_0){
ver_idx = 1;
}else if(version == DXL_PACKET_VER_2_0){
ver_idx = 2;
}else{
return false;
}
return writeControlTableItem(ControlTableItem::PROTOCOL_VERSION, id, ver_idx);
}
//TODO: Simplify the code by grouping model numbers.
bool Dynamixel2Arduino::setBaudrate(uint8_t id, uint32_t baudrate)
{
uint16_t model_num = getModelNumberFromTable(id);
uint8_t baud_idx = 0;
switch(model_num)
{
case AX12A:
case AX12W:
case AX18A:
case DX113:
case DX116:
case DX117:
case RX10:
case RX24F:
case RX28:
case RX64:
case EX106:
case MX12W:
case MX28:
case MX64:
case MX106:
// baud_idx = round(2000000.0/(float)baudrate) - 1;
// if(baud_idx > 254)
// return false;
switch(baudrate)
{
case 9600:
baud_idx = 207;
break;
case 57600:
baud_idx = 34;
break;
case 115200:
baud_idx = 16;
break;
case 1000000:
baud_idx = 1;
break;
default:
return false;
}
break;
case XL320:
switch(baudrate)
{
case 9600:
baud_idx = 0;
break;
case 57600:
baud_idx = 1;
break;
case 115200:
baud_idx = 2;
break;
case 1000000:
baud_idx = 3;
break;
default:
return false;
}
break;
case MX28_2:
case MX64_2:
case MX106_2:
case XL430_W250:
case XC430_W150:
case XC430_W240:
case XXL430_W250:
case XM430_W210:
case XM430_W350:
case XH430_V210:
case XH430_V350:
case XH430_W210:
case XH430_W350:
case XM540_W150:
case XM540_W270:
case XH540_W150:
case XH540_W270:
case XH540_V150:
case XH540_V270:
switch(baudrate)
{
case 9600:
baud_idx = 0;
break;
case 57600:
baud_idx = 1;
break;
case 115200:
baud_idx = 2;
break;
case 1000000:
baud_idx = 3;
break;
case 2000000:
baud_idx = 4;
break;
case 3000000:
baud_idx = 5;
break;
case 4000000:
baud_idx = 6;
break;
case 4500000:
baud_idx = 7;
break;
default:
return false;
}
break;
// case PRO_L42_10_S300_R:
// case PRO_L54_30_S400_R:
// case PRO_L54_30_S500_R:
// case PRO_L54_50_S290_R:
// case PRO_L54_50_S500_R:
case PRO_M42_10_S260_R:
case PRO_M54_40_S250_R:
case PRO_M54_60_S250_R:
case PRO_H42_20_S300_R:
case PRO_H54_100_S500_R:
case PRO_H54_200_S500_R:
switch(baudrate)
{
case 9600:
baud_idx = 0;
break;
case 57600:
baud_idx = 1;
break;
case 115200:
baud_idx = 2;
break;
case 1000000:
baud_idx = 3;
break;
case 2000000:
baud_idx = 4;
break;
case 3000000:
baud_idx = 5;
break;
case 4000000:
baud_idx = 6;
break;
case 4500000:
baud_idx = 7;
break;
case 10500000:
baud_idx = 8;
break;
default:
return false;
}
break;
case PRO_M42_10_S260_RA:
case PRO_M54_40_S250_RA:
case PRO_M54_60_S250_RA:
case PRO_H42_20_S300_RA:
case PRO_H54_100_S500_RA:
case PRO_H54_200_S500_RA:
case PRO_H42P_020_S300_R:
case PRO_H54P_100_S500_R:
case PRO_H54P_200_S500_R:
case PRO_M42P_010_S260_R:
case PRO_M54P_040_S250_R:
case PRO_M54P_060_S250_R:
switch(baudrate)
{
case 9600:
baud_idx = 0;
break;
case 57600:
baud_idx = 1;
break;
case 115200:
baud_idx = 2;
break;
case 1000000:
baud_idx = 3;
break;
case 2000000:
baud_idx = 4;
break;
case 3000000:
baud_idx = 5;
break;
case 4000000:
baud_idx = 6;
break;
case 4500000:
baud_idx = 7;
break;
case 6000000:
baud_idx = 8;
break;
case 10500000:
baud_idx = 9;
break;
default:
return false;
}
break;
default:
return false;
break;
}
return writeControlTableItem(ControlTableItem::BAUD_RATE, id, baud_idx);
}
/* Commands for Slave */
bool Dynamixel2Arduino::torqueOn(uint8_t id)
{
return setTorqueEnable(id, true);
}
bool Dynamixel2Arduino::torqueOff(uint8_t id)
{
return setTorqueEnable(id, false);
}
bool Dynamixel2Arduino::setTorqueEnable(uint8_t id, bool enable)
{
return writeControlTableItem(ControlTableItem::TORQUE_ENABLE, id, enable);
}
bool Dynamixel2Arduino::ledOn(uint8_t id)
{
return setLedState(id, true);
}
bool Dynamixel2Arduino::ledOff(uint8_t id)
{
return setLedState(id, false);
}
bool Dynamixel2Arduino::setLedState(uint8_t id, bool state)
{
bool ret = false;
uint16_t model_num = getModelNumberFromTable(id);
switch(model_num)
{
// case PRO_L42_10_S300_R:
// case PRO_L54_30_S400_R:
// case PRO_L54_30_S500_R:
// case PRO_L54_50_S290_R:
// case PRO_L54_50_S500_R:
case PRO_M42_10_S260_R:
case PRO_M54_40_S250_R:
case PRO_M54_60_S250_R:
case PRO_H42_20_S300_R:
case PRO_H54_100_S500_R:
case PRO_H54_200_S500_R:
case PRO_M42_10_S260_RA:
case PRO_M54_40_S250_RA:
case PRO_M54_60_S250_RA:
case PRO_H42_20_S300_RA:
case PRO_H54_100_S500_RA:
case PRO_H54_200_S500_RA:
case PRO_H42P_020_S300_R:
case PRO_H54P_100_S500_R:
case PRO_H54P_200_S500_R:
case PRO_M42P_010_S260_R:
case PRO_M54P_040_S250_R:
case PRO_M54P_060_S250_R:
ret = writeControlTableItem(ControlTableItem::LED_RED, id, state);
break;
default:
ret = writeControlTableItem(ControlTableItem::LED, id, state);
break;
}
return ret;
}
//TODO: Simplify the code by grouping model numbers.
bool Dynamixel2Arduino::setOperatingMode(uint8_t id, uint8_t mode)
{
bool ret = false;
uint16_t model_num = getModelNumberFromTable(id);
switch(model_num)
{
case AX12A:
case AX12W:
case AX18A:
case DX113:
case DX116:
case DX117:
case RX10:
case RX24F:
case RX28:
case RX64:
if(mode == OP_POSITION){
if(writeControlTableItem(ControlTableItem::CW_ANGLE_LIMIT, id, 0))
ret = writeControlTableItem(ControlTableItem::CCW_ANGLE_LIMIT, id, 1023);
}else if(mode == OP_VELOCITY){
if(writeControlTableItem(ControlTableItem::CW_ANGLE_LIMIT, id, 0))
ret = writeControlTableItem(ControlTableItem::CCW_ANGLE_LIMIT, id, 0);
}
break;
case EX106:
if(mode == OP_POSITION){
if(writeControlTableItem(ControlTableItem::CW_ANGLE_LIMIT, id, 0))
ret = writeControlTableItem(ControlTableItem::CCW_ANGLE_LIMIT, id, 4095);
}else if(mode == OP_VELOCITY){
if(writeControlTableItem(ControlTableItem::CW_ANGLE_LIMIT, id, 0))
ret = writeControlTableItem(ControlTableItem::CCW_ANGLE_LIMIT, id, 0);
}
break;
case XL320:
if(mode == OP_POSITION){
ret = writeControlTableItem(ControlTableItem::CONTROL_MODE, id, 2);
}else if(mode == OP_VELOCITY){
ret = writeControlTableItem(ControlTableItem::CONTROL_MODE, id, 1);
}
break;
case MX12W:
case MX28:
if(mode == OP_POSITION){
if(writeControlTableItem(ControlTableItem::CW_ANGLE_LIMIT, id, 0))
ret = writeControlTableItem(ControlTableItem::CCW_ANGLE_LIMIT, id, 4095);
}else if(mode == OP_VELOCITY){
if(writeControlTableItem(ControlTableItem::CW_ANGLE_LIMIT, id, 0))
ret = writeControlTableItem(ControlTableItem::CCW_ANGLE_LIMIT, id, 0);
}else if(mode == OP_EXTENDED_POSITION){
if(writeControlTableItem(ControlTableItem::CW_ANGLE_LIMIT, id, 4095))
ret = writeControlTableItem(ControlTableItem::CCW_ANGLE_LIMIT, id, 4095);
}
break;
case MX64:
case MX106:
if(mode == OP_POSITION){
if(writeControlTableItem(ControlTableItem::TORQUE_CTRL_MODE_ENABLE, id, 0)
|| writeControlTableItem(ControlTableItem::CW_ANGLE_LIMIT, id, 0))
ret = writeControlTableItem(ControlTableItem::CCW_ANGLE_LIMIT, id, 4095);
}else if(mode == OP_VELOCITY){
if(writeControlTableItem(ControlTableItem::TORQUE_CTRL_MODE_ENABLE, id, 0)
|| writeControlTableItem(ControlTableItem::CW_ANGLE_LIMIT, id, 0))
ret = writeControlTableItem(ControlTableItem::CCW_ANGLE_LIMIT, id, 0);
}else if(mode == OP_EXTENDED_POSITION){
if(writeControlTableItem(ControlTableItem::TORQUE_CTRL_MODE_ENABLE, id, 0)
|| writeControlTableItem(ControlTableItem::CW_ANGLE_LIMIT, id, 4095))
ret = writeControlTableItem(ControlTableItem::CCW_ANGLE_LIMIT, id, 4095);
}else if(mode == OP_CURRENT){
ret = writeControlTableItem(ControlTableItem::TORQUE_CTRL_MODE_ENABLE, id, 1);
}
break;
case MX28_2:
case XL430_W250:
case XC430_W150:
case XC430_W240:
case XXL430_W250:
if(mode == OP_POSITION){
ret = writeControlTableItem(ControlTableItem::OPERATING_MODE, id, 3);
}else if(mode == OP_VELOCITY){
ret = writeControlTableItem(ControlTableItem::OPERATING_MODE, id, 1);
}else if(mode == OP_EXTENDED_POSITION){
ret = writeControlTableItem(ControlTableItem::OPERATING_MODE, id, 4);
}else if(mode == OP_PWM){
ret = writeControlTableItem(ControlTableItem::OPERATING_MODE, id, 16);
}
break;
case MX64_2:
case MX106_2:
case XM430_W210:
case XM430_W350:
case XH430_V210:
case XH430_V350:
case XH430_W210:
case XH430_W350:
case XM540_W150:
case XM540_W270:
case XH540_W150:
case XH540_W270:
case XH540_V150:
case XH540_V270:
if(mode == OP_POSITION){
ret = writeControlTableItem(ControlTableItem::OPERATING_MODE, id, 3);
}else if(mode == OP_VELOCITY){
ret = writeControlTableItem(ControlTableItem::OPERATING_MODE, id, 1);
}else if(mode == OP_EXTENDED_POSITION){
ret = writeControlTableItem(ControlTableItem::OPERATING_MODE, id, 4);
}else if(mode == OP_CURRENT){
ret = writeControlTableItem(ControlTableItem::OPERATING_MODE, id, 0);
}else if(mode == OP_PWM){
ret = writeControlTableItem(ControlTableItem::OPERATING_MODE, id, 16);
}else if(mode == OP_CURRENT_BASED_POSITION){
ret = writeControlTableItem(ControlTableItem::OPERATING_MODE, id, 5);
}
break;
// case PRO_L42_10_S300_R:
// case PRO_L54_30_S400_R:
// case PRO_L54_30_S500_R:
// case PRO_L54_50_S290_R:
// case PRO_L54_50_S500_R:
case PRO_M42_10_S260_R:
case PRO_M54_40_S250_R:
case PRO_M54_60_S250_R:
case PRO_H42_20_S300_R:
case PRO_H54_100_S500_R:
case PRO_H54_200_S500_R:
if(mode == OP_POSITION){
ret = writeControlTableItem(ControlTableItem::OPERATING_MODE, id, 3);
}else if(mode == OP_VELOCITY){
ret = writeControlTableItem(ControlTableItem::OPERATING_MODE, id, 1);
}else if(mode == OP_EXTENDED_POSITION){
ret = writeControlTableItem(ControlTableItem::OPERATING_MODE, id, 4);
}else if(mode == OP_CURRENT){
ret = writeControlTableItem(ControlTableItem::OPERATING_MODE, id, 0);
}
break;
case PRO_M42_10_S260_RA:
case PRO_M54_40_S250_RA:
case PRO_M54_60_S250_RA:
case PRO_H42_20_S300_RA:
case PRO_H54_100_S500_RA:
case PRO_H54_200_S500_RA:
case PRO_H42P_020_S300_R:
case PRO_H54P_100_S500_R:
case PRO_H54P_200_S500_R:
case PRO_M42P_010_S260_R:
case PRO_M54P_040_S250_R:
case PRO_M54P_060_S250_R:
if(mode == OP_POSITION){
ret = writeControlTableItem(ControlTableItem::OPERATING_MODE, id, 3);
}else if(mode == OP_VELOCITY){
ret = writeControlTableItem(ControlTableItem::OPERATING_MODE, id, 1);
}else if(mode == OP_EXTENDED_POSITION){
ret = writeControlTableItem(ControlTableItem::OPERATING_MODE, id, 4);
}else if(mode == OP_CURRENT){
ret = writeControlTableItem(ControlTableItem::OPERATING_MODE, id, 0);
}else if(mode == OP_PWM){
ret = writeControlTableItem(ControlTableItem::OPERATING_MODE, id, 16);
}
break;
default:
break;
}
return ret;
}
bool Dynamixel2Arduino::setGoalPosition(uint8_t id, float value, uint8_t unit)
{
if(unit != UNIT_RAW && unit != UNIT_DEGREE)
return false;
return writeForRangeDependencyFunc(SET_POSITION, id, value, unit);
}
float Dynamixel2Arduino::getPresentPosition(uint8_t id, uint8_t unit)
{
if(unit != UNIT_RAW && unit != UNIT_DEGREE)
return 0.0;
return readForRangeDependencyFunc(GET_POSITION, id, unit);
}
bool Dynamixel2Arduino::setGoalVelocity(uint8_t id, float value, uint8_t unit)
{
if(unit != UNIT_RAW && unit != UNIT_PERCENT && unit != UNIT_RPM)
return false;
return writeForRangeDependencyFunc(SET_VELOCITY, id, value, unit);
}
float Dynamixel2Arduino::getPresentVelocity(uint8_t id, uint8_t unit)
{
if(unit != UNIT_RAW && unit != UNIT_PERCENT && unit != UNIT_RPM)
return 0.0;
return readForRangeDependencyFunc(GET_VELOCITY, id, unit);
}
bool Dynamixel2Arduino::setGoalPWM(uint8_t id, float value, uint8_t unit)
{
if(unit != UNIT_RAW && unit != UNIT_PERCENT)
return false;
return writeForRangeDependencyFunc(SET_PWM, id, value, unit);
}
float Dynamixel2Arduino::getPresentPWM(uint8_t id, uint8_t unit)
{
if(unit != UNIT_RAW && unit != UNIT_PERCENT)
return 0.0;
return readForRangeDependencyFunc(GET_PWM, id, unit);
}
bool Dynamixel2Arduino::setGoalCurrent(uint8_t id, float value, uint8_t unit)
{
if(unit != UNIT_RAW && unit != UNIT_PERCENT && unit != UNIT_MILLI_AMPERE)
return false;
return writeForRangeDependencyFunc(SET_CURRENT, id, value, unit);
}
float Dynamixel2Arduino::getPresentCurrent(uint8_t id, uint8_t unit)
{
if(unit != UNIT_RAW && unit != UNIT_PERCENT && unit != UNIT_MILLI_AMPERE)
return 0.0;
return readForRangeDependencyFunc(GET_CURRENT, id, unit);
}
int32_t Dynamixel2Arduino::readControlTableItem(uint8_t item_idx, uint8_t id, uint32_t timeout)
{
uint16_t model_num = getModelNumberFromTable(id);
return readControlTableItem(model_num, item_idx, id, timeout);
}
bool Dynamixel2Arduino::writeControlTableItem(uint8_t item_idx, uint8_t id, int32_t data, uint32_t timeout)
{
uint16_t model_num = getModelNumberFromTable(id);
return writeControlTableItem(model_num, item_idx, id, data, timeout);
}
/* Private Member Function */
int32_t Dynamixel2Arduino::readControlTableItem(uint16_t model_num, uint8_t item_idx, uint8_t id, uint32_t timeout)
{
int32_t recv_len, ret = 0;
ControlTableItemInfo_t item_info;
item_info = getControlTableItemInfo(model_num, item_idx);
if(item_info.addr_length == 0)
return 0;
recv_len = read(id, item_info.addr, item_info.addr_length, (uint8_t*)&ret, sizeof(ret), timeout);
if(recv_len == 1){
int8_t t_data = (int8_t)ret;
ret = (int32_t)t_data;
}else if(recv_len == 2){
int16_t t_data = (int16_t)ret;
ret = (int32_t)t_data;
}
return ret;
}
bool Dynamixel2Arduino::writeControlTableItem(uint16_t model_num, uint8_t item_idx, uint8_t id, int32_t data, uint32_t timeout)
{
ControlTableItemInfo_t item_info;
item_info = getControlTableItemInfo(model_num, item_idx);
if(item_info.addr_length == 0)
return false;
return write(id, item_info.addr, (uint8_t*)&data, item_info.addr_length, timeout);
}
uint16_t Dynamixel2Arduino::getModelNumberFromTable(uint8_t id)
{
uint16_t model_num = UNREGISTERED_MODEL;
uint32_t i;
for(i = 0; i < DXL_MAX_NODE; i++)
{
if(registered_dxl_[i].id == id){
model_num = registered_dxl_[i].model_num;
break;
}
}
if(i == DXL_MAX_NODE && registered_dxl_cnt_ < DXL_MAX_NODE){
if(ping(id) == true){
for(i = 0; i < DXL_MAX_NODE; i++)
{
if(registered_dxl_[i].id == id){
model_num = registered_dxl_[i].model_num;
break;
}
}
}
}
return model_num;
}
float Dynamixel2Arduino::readForRangeDependencyFunc(uint8_t func_idx, uint8_t id, uint8_t unit)
{
float ret = 0;
int32_t ret_data = 0;
uint16_t model_num = getModelNumberFromTable(id);
ItemAndRangeInfo_t item_info = getModelDependencyFuncInfo(model_num, func_idx);
if(item_info.item_idx == LAST_DUMMY_ITEM)
return false;
ret_data = readControlTableItem(model_num, item_info.item_idx, id);
if(checkAndconvertReadData(ret_data, ret, unit, item_info) == false)
return 0;
return ret;
}
bool Dynamixel2Arduino::writeForRangeDependencyFunc(uint8_t func_idx, uint8_t id, float value, uint8_t unit)
{
bool ret = false;
int32_t data = 0;
uint16_t model_num = getModelNumberFromTable(id);
ItemAndRangeInfo_t item_info = getModelDependencyFuncInfo(model_num, func_idx);
if(item_info.item_idx == LAST_DUMMY_ITEM)
return false;
if(checkAndconvertWriteData(value, data, unit, item_info) == false)
return false;
ret = writeControlTableItem(model_num, item_info.item_idx, id, data);
return ret;
}
/* Const structure & Static Function */
/* AX series, XL320 (DX,RX,EX) */
const ModelDependencyFuncItemAndRangeInfo_t dependency_ctable_1_0_common[] PROGMEM = {
#if (ENABLE_ACTUATOR_AX \
|| ENABLE_ACTUATOR_DX \
|| ENABLE_ACTUATOR_RX \
|| ENABLE_ACTUATOR_EX)
{SET_POSITION, GOAL_POSITION, UNIT_DEGREE, 0, 1023, 0.29},
{GET_POSITION, PRESENT_POSITION, UNIT_DEGREE, 0, 1023, 0.29},
{SET_VELOCITY, MOVING_SPEED, UNIT_PERCENT, 0, 2047, 0.1},
{GET_VELOCITY, PRESENT_SPEED, UNIT_PERCENT, 0, 2047, 0.1},
#endif
{LAST_DUMMY_FUNC, LAST_DUMMY_ITEM, UNIT_RAW, 0, 0, 0}
};
const ModelDependencyFuncItemAndRangeInfo_t dependency_ex[] PROGMEM = {
#if (ENABLE_ACTUATOR_EX)
{SET_POSITION, GOAL_POSITION, UNIT_DEGREE, 0, 4095, 0.06},
{GET_POSITION, PRESENT_POSITION, UNIT_DEGREE, 0, 4095, 0.06},
#endif
{LAST_DUMMY_FUNC, LAST_DUMMY_ITEM, UNIT_RAW, 0, 0, 0}
};
/* MX(1.0) series */
const ModelDependencyFuncItemAndRangeInfo_t dependency_ctable_1_1_common[] PROGMEM = {
#if (ENABLE_ACTUATOR_MX12W \
|| ENABLE_ACTUATOR_MX28 \
|| ENABLE_ACTUATOR_MX64 \
|| ENABLE_ACTUATOR_MX106)
{SET_POSITION, GOAL_POSITION, UNIT_DEGREE, -28672, 28672, 0.088},
{GET_POSITION, PRESENT_POSITION, UNIT_DEGREE, -28672, 28672, 0.088},
{SET_VELOCITY, MOVING_SPEED, UNIT_RPM, 0, 2047, 0.114},
{GET_VELOCITY, PRESENT_SPEED, UNIT_RPM, 0, 2047, 0.114},
#endif
{LAST_DUMMY_FUNC, LAST_DUMMY_ITEM, UNIT_RAW, 0, 0, 0}
};
const ModelDependencyFuncItemAndRangeInfo_t dependency_mx12[] PROGMEM = {
#if (ENABLE_ACTUATOR_MX12W)
{SET_VELOCITY, MOVING_SPEED, UNIT_RPM, 0, 2047, 0.916},
{GET_VELOCITY, PRESENT_SPEED, UNIT_RPM, 0, 2047, 0.916},
#endif
{LAST_DUMMY_FUNC, LAST_DUMMY_ITEM, UNIT_RAW, 0, 0, 0}
};
const ModelDependencyFuncItemAndRangeInfo_t dependency_mx64_mx106[] PROGMEM = {
#if (ENABLE_ACTUATOR_MX64 \
|| ENABLE_ACTUATOR_MX106)
{SET_CURRENT, GOAL_TORQUE, UNIT_MILLI_AMPERE, 0, 2047, 4.5},
{GET_CURRENT, CURRENT, UNIT_MILLI_AMPERE, 0, 4095, 4.5},
#endif
{LAST_DUMMY_FUNC, LAST_DUMMY_ITEM, UNIT_RAW, 0, 0, 0}
};
const ModelDependencyFuncItemAndRangeInfo_t dependency_xl320[] PROGMEM = {
#if (ENABLE_ACTUATOR_XL320)
{SET_POSITION, GOAL_POSITION, UNIT_DEGREE, 0, 1023, 0.29},
{GET_POSITION, PRESENT_POSITION, UNIT_DEGREE, 0, 1023, 0.29},
{SET_VELOCITY, MOVING_SPEED, UNIT_PERCENT, 0, 2047, 0.1},
{GET_VELOCITY, PRESENT_SPEED, UNIT_PERCENT, 0, 2047, 0.1},
#endif
{LAST_DUMMY_FUNC, LAST_DUMMY_ITEM, UNIT_RAW, 0, 0, 0}
};
/* MX2.0, X series(without XL320) */
const ModelDependencyFuncItemAndRangeInfo_t dependency_ctable_2_0_common[] PROGMEM = {
#if (ENABLE_ACTUATOR_MX28_PROTOCOL2 \
|| ENABLE_ACTUATOR_MX64_PROTOCOL2 \
|| ENABLE_ACTUATOR_MX106_PROTOCOL2 \
|| ENABLE_ACTUATOR_XC430 \
|| ENABLE_ACTUATOR_XL430 \
|| ENABLE_ACTUATOR_XM430 || ENABLE_ACTUATOR_XH430 \
|| ENABLE_ACTUATOR_XM540 || ENABLE_ACTUATOR_XH540)
{SET_POSITION, GOAL_POSITION, UNIT_DEGREE, -1048575, 1048575, 0.088},
{GET_POSITION, PRESENT_POSITION, UNIT_DEGREE, -2147483647 , 2147483647, 0.088},
{SET_VELOCITY, GOAL_VELOCITY, UNIT_RPM, -1023, 1023, 0.229},
{GET_VELOCITY, PRESENT_VELOCITY, UNIT_RPM, -1023, 1023, 0.229},
{SET_PWM, GOAL_PWM, UNIT_RAW, -885, 885, 1},
{GET_PWM, PRESENT_PWM, UNIT_RAW, -885, 885, 1},
#endif
{LAST_DUMMY_FUNC, LAST_DUMMY_ITEM, UNIT_RAW, 0, 0, 0}
};
const ModelDependencyFuncItemAndRangeInfo_t dependency_mx64_2[] PROGMEM = {
#if (ENABLE_ACTUATOR_MX64_PROTOCOL2)
{SET_CURRENT, GOAL_CURRENT, UNIT_MILLI_AMPERE, -1193, 1193, 3.36},
{GET_CURRENT, PRESENT_CURRENT, UNIT_MILLI_AMPERE, -1193, 1193, 3.36},
#endif
{LAST_DUMMY_FUNC, LAST_DUMMY_ITEM, UNIT_RAW, 0, 0, 0}
};
const ModelDependencyFuncItemAndRangeInfo_t dependency_mx106_2[] PROGMEM = {
#if (ENABLE_ACTUATOR_MX106_PROTOCOL2)
{SET_CURRENT, GOAL_CURRENT, UNIT_MILLI_AMPERE, -2047, 2047, 3.36},
{GET_CURRENT, PRESENT_CURRENT, UNIT_MILLI_AMPERE, -2047, 2047, 3.36},
#endif
{LAST_DUMMY_FUNC, LAST_DUMMY_ITEM, UNIT_RAW, 0, 0, 0}
};
const ModelDependencyFuncItemAndRangeInfo_t dependency_xm430_w210_w350[] PROGMEM = {
#if (ENABLE_ACTUATOR_XM430)
{SET_CURRENT, GOAL_CURRENT, UNIT_MILLI_AMPERE, -1193, 1193, 2.69},
{GET_CURRENT, PRESENT_CURRENT, UNIT_MILLI_AMPERE, -1193, 1193, 2.69},
#endif
{LAST_DUMMY_FUNC, LAST_DUMMY_ITEM, UNIT_RAW, 0, 0, 0}
};
const ModelDependencyFuncItemAndRangeInfo_t dependency_xh430_w210_w350[] PROGMEM = {
#if (ENABLE_ACTUATOR_XH430)
{SET_CURRENT, GOAL_CURRENT, UNIT_MILLI_AMPERE, -648, 648, 2.69},
{GET_CURRENT, PRESENT_CURRENT, UNIT_MILLI_AMPERE, -648, 648, 2.69},
#endif
{LAST_DUMMY_FUNC, LAST_DUMMY_ITEM, UNIT_RAW, 0, 0, 0}
};
const ModelDependencyFuncItemAndRangeInfo_t dependency_xh430_v210_v350[] PROGMEM = {
#if (ENABLE_ACTUATOR_XH430)
{SET_CURRENT, GOAL_CURRENT, UNIT_MILLI_AMPERE, -689, 689, 1.34},
{GET_CURRENT, PRESENT_CURRENT, UNIT_MILLI_AMPERE, -689, 689, 1.34},
#endif
{LAST_DUMMY_FUNC, LAST_DUMMY_ITEM, UNIT_RAW, 0, 0, 0}
};
const ModelDependencyFuncItemAndRangeInfo_t dependency_xm540_xh540[] PROGMEM = {
#if (ENABLE_ACTUATOR_XM540 || ENABLE_ACTUATOR_XH540)
{SET_CURRENT, GOAL_CURRENT, UNIT_MILLI_AMPERE, -2047, 2047, 2.69},
{GET_CURRENT, PRESENT_CURRENT, UNIT_MILLI_AMPERE, -2047, 2047, 2.69},
#endif
{LAST_DUMMY_FUNC, LAST_DUMMY_ITEM, UNIT_RAW, 0, 0, 0}
};
/* PRO R series */
const ModelDependencyFuncItemAndRangeInfo_t dependency_pro_r_m42_10[] PROGMEM = {
#if (ENABLE_ACTUATOR_PRO_R)
{SET_POSITION, GOAL_POSITION, UNIT_DEGREE, -2147483647, 2147483647, 0.00136785},
{GET_POSITION, PRESENT_POSITION, UNIT_DEGREE, -2147483647 , 2147483647, 0.00136785},
{SET_VELOCITY, GOAL_VELOCITY, UNIT_RPM, -8000, 8000, 0.00389076},
{GET_VELOCITY, PRESENT_VELOCITY, UNIT_RPM, -8000, 8000, 0.00389076},
{SET_CURRENT, GOAL_TORQUE, UNIT_MILLI_AMPERE, -900, 900, 4.02832},
{GET_CURRENT, PRESENT_CURRENT, UNIT_MILLI_AMPERE, -900, 900, 4.02832},
#endif
{LAST_DUMMY_FUNC, LAST_DUMMY_ITEM, UNIT_RAW, 0, 0, 0}
};
const ModelDependencyFuncItemAndRangeInfo_t dependency_pro_r_m54_40[] PROGMEM = {
#if (ENABLE_ACTUATOR_PRO_R)
{SET_POSITION, GOAL_POSITION, UNIT_DEGREE, -2147483647, 2147483647, 0.00143188},
{GET_POSITION, PRESENT_POSITION, UNIT_DEGREE, -2147483647 , 2147483647, 0.00143188},
{SET_VELOCITY, GOAL_VELOCITY, UNIT_RPM, -8000, 8000, 0.00397746},
{GET_VELOCITY, PRESENT_VELOCITY, UNIT_RPM, -8000, 8000, 0.00397746},
{SET_CURRENT, GOAL_TORQUE, UNIT_MILLI_AMPERE, -360, 360, 16.11328},
{GET_CURRENT, PRESENT_CURRENT, UNIT_MILLI_AMPERE, -360, 360, 16.11328},
#endif
{LAST_DUMMY_FUNC, LAST_DUMMY_ITEM, UNIT_RAW, 0, 0, 0}
};
const ModelDependencyFuncItemAndRangeInfo_t dependency_pro_r_m54_60[] PROGMEM = {
#if (ENABLE_ACTUATOR_PRO_R)
{SET_POSITION, GOAL_POSITION, UNIT_DEGREE, -2147483647, 2147483647, 0.00143188},
{GET_POSITION, PRESENT_POSITION, UNIT_DEGREE, -2147483647 , 2147483647, 0.00143188},