getting_started.md

Getting started

To use RhAL, you have to include RhAL.hpp, and instanciate the manager:

#include <RhAL.hpp>

int main()
{
    RhAL::SerialBus bus("/dev/ttyACM0", 1000000);
    RhAL::DynamixelV1 protocol(bus);
    RhAL::Manager manager(protocol);
}

Note: you can also use a rhal.json configuration file

You can then scan for available devices:

manager.scan();

And access all devices you want to:

auto servos = manager.getAll<RhAL::Device::Dynamixel>();
for (auto &servo : servos) {
    std::cout << "* Servo " << servo.getId() << std::endl;
    std::cout << "  Angle: " << servo.getAngle() << std::endl;
}

Another example, if you want to set the angle of the servo 32 to pi:

auto servo = manger.get<RhAL::Device::Dynamixel>(32);
servo.setAngle(32);

Manager methods

Getting a device

You can get devices using IDs or names using the following methods:

• Type &get<Type>(int id)
• Type &get<Type>(std::string name)

This will return a reference to the device. If it doesn't exist, an exeption will raise.

Go back to the home for the list of supported types.

### Getting all devices of a type

You can also get all devices of a specific types using:

• std::vector<Type> getAll<Type>()

Using grouped read/write

You can use grouped read and write, enabling it with:

• enableGroupedWrite(bool enable, int startAddress, int endAddress)
• enableGroupedRead(bool enable, int startAddress, int endAddress)

Then, one can flush the read or write with:

• flushRead()
• flushWrite()