This graph shows which files directly or indirectly include this file:

Macros
#define	MOTOR_ADDRESS_OFFSET 0x140

#define	MOTOR_COMMAND_READ_PID_PARAMETERS 0x30

#define	MOTOR_COMMAND_WRITE_PID_PARAMETERS_TO_RAM 0x31

#define	MOTOR_COMMAND_WRITE_PID_PARAMETERS_TO_ROM 0x32

#define	MOTOR_COMMAND_READ_ACCELERATION 0x33

#define	MOTOR_COMMAND_WRITE_ACCELERATION_TO_RAM 0x34

#define	MOTOR_COMMAND_READ_ENCODER_POSITION 0x90

#define	MOTOR_COMMAND_WRITE_ENCODER_POSITION_OFFSET 0x91

#define	MOTOR_COMMAND_WRITE_CURRENT_POSITION_TO_ROM 0x19

#define	MOTOR_COMMAND_READ_MULTI_TURN_ANGLE 0x92

#define	MOTOR_COMMAND_READ_SINGLE_CIRCLE_COMMAND 0x94

#define	MOTOR_COMMAND_READ_MOTOR_STATUS_1_AND_ERROR_FLAG 0x9A

#define	MOTOR_COMMAND_CLEAR_MOTOR_ERROR_FLAG 0x9B

#define	MOTOR_COMMAND_READ_MOTOR_STATUS_2 0x9C

#define	MOTOR_COMMAND_READ_MOTOR_STATUS_3 0x9D

#define	MOTOR_COMMAND_MOTOR_OFF 0x80

#define	MOTOR_COMMAND_MOTOR_STOP 0x81

#define	MOTOR_COMMAND_MOTOR_RUNNING 0x88

#define	MOTOR_COMMAND_TORQUE_CLOSED_LOOP 0xA1

#define	MOTOR_COMMAND_SPEED_CLOSED_LOOP 0xA2

#define	MOTOR_COMMAND_POSITION_CLOSED_LOOP_1 0xA3

#define	MOTOR_COMMAND_POSITION_CLOSED_LOOP_2 0xA4

#define	MOTOR_COMMAND_POSITION_CLOSED_LOOP_3 0xA5

#define	MOTOR_COMMAND_POSITION_CLOSED_LOOP_4 0xA6

Variables
const double	GEAR_REDUCTION = 6.0

const double	ROTATION_DISTANCE = 60.0

const int	MOTOR_BAUD_RATE = 1000000

const int	MAX_ENCODER_VALUE = 65535

const int	MAX_TORQUE_CURRENT = 1200

const double	MAX_TORQUE = 26.88

const double	MULTI_TURN_THRESHOLD = 60.0

Macro Definition Documentation

◆ MOTOR_ADDRESS_OFFSET

#define MOTOR_ADDRESS_OFFSET 0x140

Definition at line 23 of file motor_constants.h.

◆ MOTOR_COMMAND_READ_PID_PARAMETERS

#define MOTOR_COMMAND_READ_PID_PARAMETERS 0x30

Definition at line 29 of file motor_constants.h.

◆ MOTOR_COMMAND_WRITE_PID_PARAMETERS_TO_RAM

#define MOTOR_COMMAND_WRITE_PID_PARAMETERS_TO_RAM 0x31

Definition at line 30 of file motor_constants.h.

◆ MOTOR_COMMAND_WRITE_PID_PARAMETERS_TO_ROM

#define MOTOR_COMMAND_WRITE_PID_PARAMETERS_TO_ROM 0x32

Definition at line 31 of file motor_constants.h.

◆ MOTOR_COMMAND_READ_ACCELERATION

#define MOTOR_COMMAND_READ_ACCELERATION 0x33

Definition at line 32 of file motor_constants.h.

◆ MOTOR_COMMAND_WRITE_ACCELERATION_TO_RAM

#define MOTOR_COMMAND_WRITE_ACCELERATION_TO_RAM 0x34

Definition at line 33 of file motor_constants.h.

◆ MOTOR_COMMAND_READ_ENCODER_POSITION

#define MOTOR_COMMAND_READ_ENCODER_POSITION 0x90

Definition at line 34 of file motor_constants.h.

◆ MOTOR_COMMAND_WRITE_ENCODER_POSITION_OFFSET

#define MOTOR_COMMAND_WRITE_ENCODER_POSITION_OFFSET 0x91

Definition at line 35 of file motor_constants.h.

◆ MOTOR_COMMAND_WRITE_CURRENT_POSITION_TO_ROM

#define MOTOR_COMMAND_WRITE_CURRENT_POSITION_TO_ROM 0x19

Definition at line 36 of file motor_constants.h.

◆ MOTOR_COMMAND_READ_MULTI_TURN_ANGLE

#define MOTOR_COMMAND_READ_MULTI_TURN_ANGLE 0x92

Definition at line 37 of file motor_constants.h.

◆ MOTOR_COMMAND_READ_SINGLE_CIRCLE_COMMAND

#define MOTOR_COMMAND_READ_SINGLE_CIRCLE_COMMAND 0x94

Definition at line 38 of file motor_constants.h.

◆ MOTOR_COMMAND_READ_MOTOR_STATUS_1_AND_ERROR_FLAG

#define MOTOR_COMMAND_READ_MOTOR_STATUS_1_AND_ERROR_FLAG 0x9A

Definition at line 39 of file motor_constants.h.

◆ MOTOR_COMMAND_CLEAR_MOTOR_ERROR_FLAG

#define MOTOR_COMMAND_CLEAR_MOTOR_ERROR_FLAG 0x9B

Definition at line 40 of file motor_constants.h.

◆ MOTOR_COMMAND_READ_MOTOR_STATUS_2

#define MOTOR_COMMAND_READ_MOTOR_STATUS_2 0x9C

Definition at line 41 of file motor_constants.h.

◆ MOTOR_COMMAND_READ_MOTOR_STATUS_3

#define MOTOR_COMMAND_READ_MOTOR_STATUS_3 0x9D

Definition at line 42 of file motor_constants.h.

◆ MOTOR_COMMAND_MOTOR_OFF

#define MOTOR_COMMAND_MOTOR_OFF 0x80

Definition at line 43 of file motor_constants.h.

◆ MOTOR_COMMAND_MOTOR_STOP

#define MOTOR_COMMAND_MOTOR_STOP 0x81

Definition at line 44 of file motor_constants.h.

◆ MOTOR_COMMAND_MOTOR_RUNNING

#define MOTOR_COMMAND_MOTOR_RUNNING 0x88

Definition at line 45 of file motor_constants.h.

◆ MOTOR_COMMAND_TORQUE_CLOSED_LOOP

#define MOTOR_COMMAND_TORQUE_CLOSED_LOOP 0xA1

Definition at line 46 of file motor_constants.h.

◆ MOTOR_COMMAND_SPEED_CLOSED_LOOP

#define MOTOR_COMMAND_SPEED_CLOSED_LOOP 0xA2

Definition at line 47 of file motor_constants.h.

◆ MOTOR_COMMAND_POSITION_CLOSED_LOOP_1

#define MOTOR_COMMAND_POSITION_CLOSED_LOOP_1 0xA3

Definition at line 48 of file motor_constants.h.

◆ MOTOR_COMMAND_POSITION_CLOSED_LOOP_2

#define MOTOR_COMMAND_POSITION_CLOSED_LOOP_2 0xA4

Definition at line 49 of file motor_constants.h.

◆ MOTOR_COMMAND_POSITION_CLOSED_LOOP_3

#define MOTOR_COMMAND_POSITION_CLOSED_LOOP_3 0xA5

Definition at line 50 of file motor_constants.h.

◆ MOTOR_COMMAND_POSITION_CLOSED_LOOP_4

#define MOTOR_COMMAND_POSITION_CLOSED_LOOP_4 0xA6

Definition at line 51 of file motor_constants.h.

Variable Documentation

◆ GEAR_REDUCTION

const double GEAR_REDUCTION = 6.0

Definition at line 5 of file motor_constants.h.

◆ ROTATION_DISTANCE

const double ROTATION_DISTANCE = 60.0

Definition at line 8 of file motor_constants.h.

◆ MOTOR_BAUD_RATE

const int MOTOR_BAUD_RATE = 1000000

Definition at line 11 of file motor_constants.h.

◆ MAX_ENCODER_VALUE

const int MAX_ENCODER_VALUE = 65535

Definition at line 14 of file motor_constants.h.

◆ MAX_TORQUE_CURRENT

const int MAX_TORQUE_CURRENT = 1200

Definition at line 17 of file motor_constants.h.

◆ MAX_TORQUE

const double MAX_TORQUE = 26.88

Definition at line 20 of file motor_constants.h.

◆ MULTI_TURN_THRESHOLD

const double MULTI_TURN_THRESHOLD = 60.0

Definition at line 26 of file motor_constants.h.

Macros

Variables