Rock
the Robot Construction Kit
dynamixel::Task
- doc: no documentation provided for this task context
- subclassed from: RTT::TaskContext
- This task does NOT need any configuration
- States
- EXCEPTION: toplevel
- FATAL_ERROR: toplevel
- INIT: toplevel
- IO_ERROR: exception
- PRE_OPERATIONAL: toplevel
- RUNNING: toplevel
- RUNTIME_ERROR: toplevel
- STOPPED: toplevel
- Input Ports
- cmd_angle: (/double) wanted tilt angle of the servo, in radians
- Output Ports
- angle: (/double) current tilt angle of the servo, in radians
- lowerDynamixel2UpperDynamixel: (/base/samples/RigidBodyState) transformation between the lower and upper frame. It is allways assumed, that the axis of the servo is located on the X-Axis
- state: (/int32_t)
- Properties
- ccw_margin: (/int32_t) the dynamixel margin C (see RX-28 manual)
- ccw_slope: (/int32_t) the dynamixel slope D (see RX-28 manual)
- cw_margin: (/int32_t) the dynamixel margin B (see RX-28 manual)
- cw_slope: (/int32_t) the dynamixel slope A (see RX-28 manual)
- device: (/std/string</int8_t>) the device file used to connect to the RS485 bus
- lowerFrameName: (/std/string</int8_t>) The name of the frame, where the lower part (fixed) of the servo is mounted
- lower_sweep_angle: (/double) lower bound of the sweep
- mode: (/dynamixel/MODE) mode of the module, 0 is hold position, 1 is contious sweep
- moving_speed: (/double) turning speed in rad/sec
- punch: (/int32_t) the dynamixel punch E (see RX-28 manual)
- servo_id: (/int32_t) the dynamixel id off the tilt angle
- torque_limit: (/int32_t) the dynamixel punch E (see RX-28 manual)
- upperFrameName: (/std/string</int8_t>) The name of the frame, where the upper part (rotating) of the servo is mounted
- upper_sweep_angle: (/double) upper bound of the sweep
- zero_offset: (/double) offset between the servo zero and the mounting zero
- Operations [NOT IMPLEMENTED YET]