trunk/tags/branches creation

CMakeLists.txt

+# Pre-requisites about cmake itself
+CMAKE_MINIMUM_REQUIRED(VERSION 2.4)
+
+if(COMMAND cmake_policy)
+  cmake_policy(SET CMP0005 NEW) 
+  cmake_policy(SET CMP0003 NEW)
+   
+endif(COMMAND cmake_policy)
+
+# The project name and the type of project
+PROJECT(dynamixel_motor_cont)
+
+SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/bin)
+SET(LIBRARY_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/lib)
+SET(CMAKE_INSTALL_PREFIX /usr/local)
+
+IF (NOT CMAKE_BUILD_TYPE)
+ SET(CMAKE_BUILD_TYPE "DEBUG") 
+ENDIF (NOT CMAKE_BUILD_TYPE)
+
+SET(CMAKE_C_FLAGS_DEBUG "-g -Wall -D_REENTRANT")
+SET(CMAKE_C_FLAGS_RELEASE "-O3 -D_REENTRANT")
+
+ADD_SUBDIRECTORY(src)
+
+FIND_PACKAGE(Doxygen)
+
+FIND_PATH(IRI_DOC_DIR doxygen.conf ${CMAKE_SOURCE_DIR}/doc/iri_doc/)
+IF (IRI_DOC_DIR)
+  ADD_CUSTOM_TARGET (doc ${DOXYGEN_EXECUTABLE} ${CMAKE_SOURCE_DIR}/doc/iri_doc/doxygen.conf)
+ELSE (IRI_DOC_DIR)
+  ADD_CUSTOM_TARGET (doc ${DOXYGEN_EXECUTABLE} ${CMAKE_SOURCE_DIR}/doc/doxygen.conf)
+ENDIF (IRI_DOC_DIR)
+
+ADD_CUSTOM_TARGET (distclean @echo cleaning cmake files)
+
+IF (UNIX)
+  ADD_CUSTOM_COMMAND(
+    COMMENT "distribution clean"
+    COMMAND make ARGS clean
+    COMMAND rm ARGS -rf ${CMAKE_SOURCE_DIR}/build/*
+
+    TARGET  distclean
+  )
+ELSE(UNIX)
+  ADD_CUSTOM_COMMAND(
+    COMMENT "distclean only implemented in unix"
+    TARGET  distclean
+  )
+ENDIF(UNIX)
+
+ADD_CUSTOM_TARGET (uninstall @echo uninstall package)
+
+IF (UNIX)
+  ADD_CUSTOM_COMMAND(
+    COMMENT "uninstall package"
+    COMMAND xargs ARGS rm < install_manifest.txt
+
+    TARGET  uninstall
+  )
+ELSE(UNIX)
+  ADD_CUSTOM_COMMAND(
+    COMMENT "uninstall only implemented in unix"
+    TARGET  uninstall
+  )
+ENDIF(UNIX)
+
+IF (UNIX)
+  SET(CPACK_PACKAGE_FILE_NAME "iri-${PROJECT_NAME}-dev-${CPACK_PACKAGE_VERSION}${DISTRIB}${CPACK_DEBIAN_PACKAGE_ARCHITECTURE}")
+  SET(CPACK_PACKAGE_NAME "iri-${PROJECT_NAME}-dev")
+  SET(CPACK_PACKAGE_DESCRIPTION_SUMMARY "Part of IRI-laboratory libraries. More information at http://wikiri.upc.es/index.php/Robotics_Lab")
+  SET(CPACK_PACKAGING_INSTALL_PREFIX ${CMAKE_INSTALL_PREFIX})
+  SET(CPACK_GENERATOR "DEB")
+  SET(CPACK_DEBIAN_PACKAGE_MAINTAINER "labrobotica@iri.upc.edu")
+  SET(CPACK_SET_DESTDIR "ON")  # Necessary because of the absolute install paths
+
+  INCLUDE(CPack)
+ELSE(UNIX)
+  ADD_CUSTOM_COMMAND(
+    COMMENT "packaging only implemented in unix"
+    TARGET  uninstall
+  )
+ENDIF(UNIX)
+

Finddynamixel_motor_cont.cmake

+#edit the following line to add the librarie's header files
+FIND_PATH(dynamixel_motor_cont_INCLUDE_DIR dynamixel.h /usr/include/iridrivers /usr/local/include/iridrivers)
+
+FIND_LIBRARY(dynamixel_motor_cont_LIBRARY
+    NAMES dynamixel_motor_cont
+    PATHS /usr/lib /usr/local/lib /usr/local/lib/iridrivers) 
+
+IF (dynamixel_motor_cont_INCLUDE_DIR AND dynamixel_motor_cont_LIBRARY)
+   SET(dynamixel_motor_cont_FOUND TRUE)
+ENDIF (dynamixel_motor_cont_INCLUDE_DIR AND dynamixel_motor_cont_LIBRARY)
+
+IF (dynamixel_motor_cont_FOUND)
+   IF (NOT dynamixel_motor_cont_FIND_QUIETLY)
+      MESSAGE(STATUS "Found dynamixel_motor_cont: ${dynamixel_motor_cont_LIBRARY}")
+   ENDIF (NOT dynamixel_motor_cont_FIND_QUIETLY)
+ELSE (dynamixel_motor_cont_FOUND)
+   IF (dynamixel_motor_cont_FIND_REQUIRED)
+      MESSAGE(FATAL_ERROR "Could not find dynamixel_motor_cont")
+   ENDIF (dynamixel_motor_cont_FIND_REQUIRED)
+ENDIF (dynamixel_motor_cont_FOUND)
+

ReadMe.txt

+Copyright (C) 2009-2010 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+Author shernand (shernand@iri.upc.edu)
+All rights reserved.
+
+This file is part of Dynamixel motor controller library
+Dynamixel motor controller library is free software: you can redistribute it and/or modify
+it under the terms of the GNU Lesser General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>
+
+

doc/doxygen.conf

+# Doxyfile 1.5.5
+
+@INCLUDE_PATH = ../doc/
+@INCLUDE = doxygen_project_name.conf
+
+#---------------------------------------------------------------------------
+# Project related configuration options
+#---------------------------------------------------------------------------
+DOXYFILE_ENCODING      = UTF-8
+PROJECT_NUMBER         = 
+OUTPUT_DIRECTORY       = ../doc
+CREATE_SUBDIRS         = NO
+OUTPUT_LANGUAGE        = English
+BRIEF_MEMBER_DESC      = YES
+REPEAT_BRIEF           = NO
+ABBREVIATE_BRIEF       = 
+ALWAYS_DETAILED_SEC    = NO
+INLINE_INHERITED_MEMB  = NO
+FULL_PATH_NAMES        = YES
+STRIP_FROM_PATH        = 
+STRIP_FROM_INC_PATH    = 
+SHORT_NAMES            = NO
+JAVADOC_AUTOBRIEF      = NO
+QT_AUTOBRIEF           = NO
+MULTILINE_CPP_IS_BRIEF = NO
+DETAILS_AT_TOP         = NO
+INHERIT_DOCS           = YES
+SEPARATE_MEMBER_PAGES  = NO
+TAB_SIZE               = 8
+ALIASES                = 
+OPTIMIZE_OUTPUT_FOR_C  = YES
+OPTIMIZE_OUTPUT_JAVA   = NO
+OPTIMIZE_FOR_FORTRAN   = NO
+OPTIMIZE_OUTPUT_VHDL   = NO
+BUILTIN_STL_SUPPORT    = NO
+CPP_CLI_SUPPORT        = NO
+SIP_SUPPORT            = NO
+DISTRIBUTE_GROUP_DOC   = NO
+SUBGROUPING            = YES
+TYPEDEF_HIDES_STRUCT   = NO
+#---------------------------------------------------------------------------
+# Build related configuration options
+#---------------------------------------------------------------------------
+EXTRACT_ALL            = NO
+EXTRACT_PRIVATE        = NO
+EXTRACT_STATIC         = NO
+EXTRACT_LOCAL_CLASSES  = YES
+EXTRACT_LOCAL_METHODS  = NO
+EXTRACT_ANON_NSPACES   = NO
+HIDE_UNDOC_MEMBERS     = NO
+HIDE_UNDOC_CLASSES     = NO
+HIDE_FRIEND_COMPOUNDS  = NO
+HIDE_IN_BODY_DOCS      = NO
+INTERNAL_DOCS          = NO
+CASE_SENSE_NAMES       = YES
+HIDE_SCOPE_NAMES       = NO
+SHOW_INCLUDE_FILES     = YES
+INLINE_INFO            = YES
+SORT_MEMBER_DOCS       = NO
+SORT_BRIEF_DOCS        = NO
+SORT_GROUP_NAMES       = NO
+SORT_BY_SCOPE_NAME     = NO
+GENERATE_TODOLIST      = YES
+GENERATE_TESTLIST      = YES
+GENERATE_BUGLIST       = YES
+GENERATE_DEPRECATEDLIST= YES
+ENABLED_SECTIONS       = 
+MAX_INITIALIZER_LINES  = 30
+SHOW_USED_FILES        = YES
+SHOW_DIRECTORIES       = YES
+FILE_VERSION_FILTER    = 
+#---------------------------------------------------------------------------
+# configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+QUIET                  = YES
+WARNINGS               = YES
+WARN_IF_UNDOCUMENTED   = YES
+WARN_IF_DOC_ERROR      = YES
+WARN_NO_PARAMDOC       = NO
+WARN_FORMAT            = "$file:$line: $text"
+WARN_LOGFILE           = 
+#---------------------------------------------------------------------------
+# configuration options related to the input files
+#---------------------------------------------------------------------------
+INPUT                  = ../src \
+                         ../doc/main.dox
+INPUT_ENCODING         = UTF-8
+FILE_PATTERNS          = *.c \
+                         *.h \
+                         *.cpp
+RECURSIVE              = YES
+EXCLUDE                = 
+EXCLUDE_SYMLINKS       = NO
+EXCLUDE_PATTERNS       = *.tab.c \
+                         *.tab.h \
+                         lex* \
+                         *glr.h \
+                         *llr.h \
+                         *glr.c \
+                         *llr.c \
+                         *general.h
+EXCLUDE_SYMBOLS        = 
+EXAMPLE_PATH           = ../src/examples
+EXAMPLE_PATTERNS       = 
+EXAMPLE_RECURSIVE      = NO
+IMAGE_PATH             = ../doc/images
+INPUT_FILTER           = 
+FILTER_PATTERNS        = 
+FILTER_SOURCE_FILES    = NO
+#---------------------------------------------------------------------------
+# configuration options related to source browsing
+#---------------------------------------------------------------------------
+SOURCE_BROWSER         = YES
+INLINE_SOURCES         = NO
+STRIP_CODE_COMMENTS    = YES
+REFERENCED_BY_RELATION = YES
+REFERENCES_RELATION    = YES
+REFERENCES_LINK_SOURCE = YES
+USE_HTAGS              = NO
+VERBATIM_HEADERS       = YES
+#---------------------------------------------------------------------------
+# configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
+ALPHABETICAL_INDEX     = YES
+COLS_IN_ALPHA_INDEX    = 5
+IGNORE_PREFIX          = 
+#---------------------------------------------------------------------------
+# configuration options related to the HTML output
+#---------------------------------------------------------------------------
+GENERATE_HTML          = YES
+HTML_OUTPUT            = html
+HTML_FILE_EXTENSION    = .html
+HTML_HEADER            = 
+HTML_FOOTER            = 
+HTML_STYLESHEET        = 
+HTML_ALIGN_MEMBERS     = YES
+GENERATE_HTMLHELP      = NO
+GENERATE_DOCSET        = NO
+DOCSET_FEEDNAME        = "Doxygen generated docs"
+DOCSET_BUNDLE_ID       = org.doxygen.Project
+HTML_DYNAMIC_SECTIONS  = NO
+CHM_FILE               = 
+HHC_LOCATION           = 
+GENERATE_CHI           = NO
+BINARY_TOC             = NO
+TOC_EXPAND             = NO
+DISABLE_INDEX          = NO
+ENUM_VALUES_PER_LINE   = 4
+GENERATE_TREEVIEW      = NO
+TREEVIEW_WIDTH         = 250
+#---------------------------------------------------------------------------
+# configuration options related to the LaTeX output
+#---------------------------------------------------------------------------
+GENERATE_LATEX         = NO
+LATEX_OUTPUT           = latex
+LATEX_CMD_NAME         = latex
+MAKEINDEX_CMD_NAME     = makeindex
+COMPACT_LATEX          = NO
+PAPER_TYPE             = a4
+EXTRA_PACKAGES         = 
+LATEX_HEADER           = 
+PDF_HYPERLINKS         = YES
+USE_PDFLATEX           = NO
+LATEX_BATCHMODE        = NO
+LATEX_HIDE_INDICES     = NO
+#---------------------------------------------------------------------------
+# configuration options related to the RTF output
+#---------------------------------------------------------------------------
+GENERATE_RTF           = NO
+RTF_OUTPUT             = rtf
+COMPACT_RTF            = NO
+RTF_HYPERLINKS         = NO
+RTF_STYLESHEET_FILE    = 
+RTF_EXTENSIONS_FILE    = 
+#---------------------------------------------------------------------------
+# configuration options related to the man page output
+#---------------------------------------------------------------------------
+GENERATE_MAN           = NO
+MAN_OUTPUT             = man
+MAN_EXTENSION          = .3
+MAN_LINKS              = NO
+#---------------------------------------------------------------------------
+# configuration options related to the XML output
+#---------------------------------------------------------------------------
+GENERATE_XML           = NO
+XML_OUTPUT             = xml
+XML_SCHEMA             = 
+XML_DTD                = 
+XML_PROGRAMLISTING     = YES
+#---------------------------------------------------------------------------
+# configuration options for the AutoGen Definitions output
+#---------------------------------------------------------------------------
+GENERATE_AUTOGEN_DEF   = NO
+#---------------------------------------------------------------------------
+# configuration options related to the Perl module output
+#---------------------------------------------------------------------------
+GENERATE_PERLMOD       = NO
+PERLMOD_LATEX          = NO
+PERLMOD_PRETTY         = YES
+PERLMOD_MAKEVAR_PREFIX = 
+#---------------------------------------------------------------------------
+# Configuration options related to the preprocessor   
+#---------------------------------------------------------------------------
+ENABLE_PREPROCESSING   = YES
+MACRO_EXPANSION        = NO
+EXPAND_ONLY_PREDEF     = NO
+SEARCH_INCLUDES        = YES
+INCLUDE_PATH           = 
+INCLUDE_FILE_PATTERNS  = 
+PREDEFINED             = _USE_MPI=1
+EXPAND_AS_DEFINED      = 
+SKIP_FUNCTION_MACROS   = YES
+#---------------------------------------------------------------------------
+# Configuration::additions related to external references   
+#---------------------------------------------------------------------------
+TAGFILES               = 
+GENERATE_TAGFILE       = 
+ALLEXTERNALS           = NO
+EXTERNAL_GROUPS        = YES
+PERL_PATH              = /usr/bin/perl
+#---------------------------------------------------------------------------
+# Configuration options related to the dot tool   
+#---------------------------------------------------------------------------
+CLASS_DIAGRAMS         = YES
+MSCGEN_PATH            = 
+HIDE_UNDOC_RELATIONS   = YES
+HAVE_DOT               = YES
+CLASS_GRAPH            = YES
+COLLABORATION_GRAPH    = YES
+GROUP_GRAPHS           = YES
+UML_LOOK               = NO
+TEMPLATE_RELATIONS     = NO
+INCLUDE_GRAPH          = NO
+INCLUDED_BY_GRAPH      = NO
+CALL_GRAPH             = YES
+CALLER_GRAPH           = YES
+GRAPHICAL_HIERARCHY    = YES
+DIRECTORY_GRAPH        = NO
+DOT_IMAGE_FORMAT       = png
+DOT_PATH               = 
+DOTFILE_DIRS           = 
+DOT_GRAPH_MAX_NODES    = 50
+MAX_DOT_GRAPH_DEPTH    = 2
+DOT_TRANSPARENT        = YES
+DOT_MULTI_TARGETS      = NO
+GENERATE_LEGEND        = YES
+DOT_CLEANUP            = YES
+#---------------------------------------------------------------------------
+# Configuration::additions related to the search engine   
+#---------------------------------------------------------------------------
+SEARCHENGINE           = NO

doc/doxygen_project_name.conf

+PROJECT_NAME = "Dynamixel motor controller"

doc/main.dox

+/*! \mainpage Dynamixel motor controller
+
+  \section Introduction 
+
+  \subsection Pre-Requisites
+
+  This package requires of the following libraries and packages
+	 - <A href="http://www.cmake.org">cmake</A>, a cross-platform build system.
+	 - <A href="http://www.doxygen.org">doxygen</a> and 
+	   <A href="http://www.graphviz.org">graphviz</a> to generate the documentation.
+         - stdc++, 
+	 .
+  
+  Under linux all of these utilities are available in ready-to-use packages.
+
+  Under MacOS most of the packages are available via <a href="http://www.finkproject.org/">fink</a>. <br>
+
+  \subsection Compilation
+
+  Just download this package, uncompress it, and execute
+   - cd build
+   - cmake ..
+   .
+  to generate the makefile and then
+   - make
+   .
+  to obtain the shared library (in this case called <em>iriutils.so</em>) and
+  also all the example programs.
+
+  The <em>cmake</em> only need to be executed once (make will automatically call
+  <em>cmake</em> if you modify one of the <em>CMakeList.txt</em> files).
+
+  To generate this documentation type
+       - make doc
+       .
+
+  The files in the <em>build</em> directory are genetated by <em>cmake</em>
+  and <em>make</em> and can be safely removed.
+  After doing so you will need to call cmake manually again.
+
+  \subsection Configuration
+
+  The default build mode is DEBUG. That is, objects and executables 
+  include debug information.
+
+  The RELEASE build mode optimizes for speed. To build in this mode
+  execute
+      - cmake .. -DCMAKE_BUILD_TYPE=RELEASE
+      .
+  The release mode will be kept until next time cmake is executed.
+
+  \subsection Installation
+
+  In order to be able to use the library, it it necessary to copy it into the system.
+  To do that, execute
+
+      - make install
+      .
+
+  as root and the shared libraries will be copied to <em>/usr/local/lib/iriutils</em> directory
+  and the header files will be copied to <em>/usr/local/include/iriutils</em> dierctory. At 
+  this point, the library may be used by any user.
+
+  To remove the library from the system, exceute
+      - make uninstall
+      .
+  as root, and all the associated files will be removed from the system.
+
+  \section Customization
+
+  To build a new application using these library, first it is necessary to locate if the library
+  has been installed or not using the following command
+
+      - FIND_PACKAGE(dynamixel_motor_cont REQUIRED)
+
+  In the case that the package is present, it is necessary to add the header files directory to
+  the include directory path by using
+
+      - INCLUDE_DIRECTORIES(${dynamixel_motor_cont_INCLUDE_DIR})
+
+  Finally, it is also nevessary to link with the desired libraries by using the following command
+
+      - TARGET_LINK_LIBRARIES(<executable name> ${dynamixel_motor_cont_LIBRARY})
+      .
+
+  \section License
+
+  This package is licensed under a  
+  <a href="http://www.gnu.org/licenses/lgpl.html">
+    LGPL 3.0 License</a>.
+
+  \section Disclaimer
+
+   This is free software: you can redistribute it and/or modify
+   it under the terms of the GNU Lesser General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU Lesser General Public License for more details.
+
+   You should have received a copy of the GNU Lesser General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>. 
+
+ */

src/CMakeLists.txt

+# edit the following line to add all the source code files of the library
+SET(sources dynamixel_motor.cpp)
+# edit the following line to add all the header files of the library
+SET(headers dynamixel_motor.h)
+
+FIND_PACKAGE(comm REQUIRED)
+
+FIND_PACKAGE(dynamixel REQUIRED)
+
+FIND_PACKAGE(motor_control REQUIRED)
+
+# edit the following line to add the necessary include directories
+INCLUDE_DIRECTORIES(${comm_INCLUDE_DIR} ${dynamixel_INCLUDE_DIR} ${motor_control_INCLUDE_DIR} .)
+
+ADD_LIBRARY(dynamixel_motor_cont SHARED ${sources})
+
+#edit the following line to add the necessary system libraries (if any)
+TARGET_LINK_LIBRARIES(dynamixel_motor_cont ${comm_LIBRARY} ${dynamixel_LIBRARY} ${motor_control_LIBRARY})
+
+INSTALL(TARGETS dynamixel_motor_cont
+  RUNTIME DESTINATION bin
+  LIBRARY DESTINATION lib/iridrivers
+  ARCHIVE DESTINATION lib/iridrivers
+)
+
+INSTALL(FILES ${headers} DESTINATION include/iridrivers)
+
+INSTALL(FILES ../Finddynamixel_motor_cont.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
+
+ADD_SUBDIRECTORY(examples)

src/dynamixel_motor.h

+#ifndef _DYNAMIXEL_MOTOR_H
+#define _DYNAMIXEL_MOTOR_H
+
+#include "dynamixelserver.h"
+#include "motor_control.h"
+#include "eventserver.h"
+#include "ftdimodule.h"
+#include "mutex.h"
+#include <stdio.h>
+#include <stdlib.h>
+#include <string>
+#include <vector>
+
+typedef enum {
+  model_number=0x00,
+  firmware_version=0x02,
+  id=0x03,
+  baudrate=0x04,
+  return_delay_time=0x05,
+  cw_angle_limit=0x06,
+  ccw_angle_limit=0x08,
+  temp_limit=0x0B,
+  low_voltage_limit=0x0C,
+  high_voltage_limit=0x0D,
+  max_torque=0x0E,
+  return_level=0x10,
+  alarm_led=0x11,
+  alarm_shtdwn=0x12,
+  down_cal=0x14,
+  up_cal=0x16,
+  torque_en=0x18,
+  led=0x19,
+  cw_comp_margin=0x1A,
+  ccw_comp_margin=0x1B,
+  cw_comp_slope=0x1C,
+  ccw_comp_slope=0x1D,
+  goal_pos=0x1E,
+  goal_speed=0x20,
+  torque_limit=0x22,
+  current_pos=0x24,
+  current_speed=0x26,
+  current_load=0x28,
+  current_voltage=0x2A,
+  current_temp=0x2B,
+  reg_inst=0x2C,
+  moving=0x2E,
+  lock=0x2F,
+  punch=0x30
+} reg_id;
+
+typedef enum {
+  input_voltage_error=0x01,
+  angle_limit_error=0x02,
+  overheating_error=0x04,
+  range_error=0x08,
+  checksum_error=0x10,
+  overload_error=0x20,
+  instruction_error=0x40
+}dyn_alarm;
+
+typedef struct
+{
+  std::string model;
+  unsigned char firmware_ver;
+}TDynamixel_info;
+
+typedef struct
+{
+  unsigned char cw_compliance_margin;
+  unsigned char ccw_compliance_margin;
+  unsigned char cw_compliance_slope;
+  unsigned char ccw_compliance_slope;
+  unsigned char punch;
+}TDynamixel_control;
+
+/**
+ * \brief 
+ *
+ */
+class CDynamixelMotor : public CMotorControl
+{
+  private:
+    CDynamixelServer *dyn_server;
+    /**
+     * \brief 
+     *
+     */
+    CDynamixel *dynamixel_dev;
+    /**
+     * \brief 
+     *
+     */   
+    TDynamixel_control control;
+    /**
+     * \brief 
+     *
+     */   
+    TDynamixel_info info;
+    /**
+     * \brief
+     *
+     */
+    unsigned char alarms;
+    /**
+     * \brief
+     *
+     */
+    bool torque_control;
+  protected:
+    /**
+     * \brief
+     *
+     */
+    virtual void angles_to_controller(short int motors,std::vector<float>& angles,std::vector<long int>& counts); 
+    /**
+     * \brief
+     *
+     */
+    virtual void speeds_to_controller(short int motors,std::vector<float>& angles,std::vector<long int>& counts); 
+    /**
+    * \brief
+     *
+     */
+    virtual void accels_to_controller(short int motors,std::vector<float>& angles,std::vector<long int>& counts); 
+    /**
+     * \brief
+     *
+     */
+    virtual void controller_to_angles(short int motors,std::vector<long int>& counts,std::vector<float>& angles); 
+    /**
+     * \brief
+     *
+     */
+    virtual void controller_to_speeds(short int motors,std::vector<long int>& counts,std::vector<float>& angles); 
+    /**
+     * \brief
+     *
+     */
+    virtual void controller_to_accels(short int motors,std::vector<long int>& counts,std::vector<float>& angles); 
+    /**
+     * \brief 
+     *
+     */
+    virtual void cont_set_accel_range(short int motors,std::vector<long int>& min, std::vector<long int>& max);
+    /**
+     * \brief 
+     *
+     */
+    virtual void cont_set_velocity_range(short int motors,std::vector<long int>& min, std::vector<long int>& max);
+    /**
+     * \brief 
+     *
+     */
+    virtual void cont_set_position_range(short int motors,std::vector<long int>& min, std::vector<long int>& max);
+    /**
+     * \brief 
+     *
+     */
+    virtual void cont_set_encoder_resolution(short int motors,std::vector<int>& enc_res);
+    /**
+     * \brief 
+     *
+     */
+    virtual void cont_set_gear_factor(short int motors,std::vector<float>& gear);
+    /**
+     * \brief 
+     *
+     */
+    virtual void cont_set_current_limit(short int motors,std::vector<float>& current);
+    /**
+     * \brief 
+     *
+     */ 
+    virtual void cont_get_accel_range(short int motors,std::vector<long int>& min, std::vector<long int>& max);
+    /**
+     * \brief 
+     *
+     */ 
+    virtual void cont_get_velocity_range(short int motors,std::vector<long int>& min, std::vector<long int>& max);
+    /**
+     * \brief 
+     *
+     */ 
+    virtual void cont_get_position_range(short int motors,std::vector<long int>& min, std::vector<long int>& max);
+    /**
+     * \brief 
+     *
+     */ 
+    virtual void cont_get_encoder_resolution(short int motors,std::vector<int>& enc_res);
+    /**
+     * \brief 
+     *
+     */ 
+    virtual void cont_get_gear_factor(short int motors,std::vector<float>& gear);
+    /**
+     * \brief 
+     *
+     */ 
+    virtual void cont_get_current_limit(short int motors,std::vector<float>& current);
+    /**
+     * \brief 
+     *
+     */ 
+    virtual void cont_set_absolute_motion(short int motors);
+    /**
+     * \brief 
+     *
+     */
+    virtual void cont_set_relative_motion(short int motors);
+    /**
+     * \brief 
+     *
+     */
+    virtual void cont_enable_position_feedback(short int motors,std::vector<float>& sample_rate);
+    /**
+     * \brief 
+     *
+     */
+    virtual void cont_enable_velocity_feedback(short int motors,std::vector<float>& sample_rate);
+    /**
+     * \brief 
+     *
+     */
+    virtual void cont_enable_acceleration_feedback(short int motors,std::vector<float>& sample_rate);
+    /**
+     * \brief 
+     *
+     */
+    virtual void cont_enable_current_feedback(short int motors,std::vector<float>& sample_rate);
+    /**
+     * \brief 
+     *
+     */
+    virtual void cont_enable_limits_feedback(short int motors,std::vector<float>& sample_rate);
+    /**
+     * \brief 
+     *
+     */
+    virtual void cont_disable_position_feedback(short int motors);
+    /**
+     * \brief 
+     *
+     */
+    virtual void cont_disable_velocity_feedback(short int motors);
+    /**
+     * \brief 
+     *
+     */
+    virtual void cont_disable_acceleration_feedback(short int motors);
+    /**
+     * \brief 
+     *
+     */
+    virtual void cont_disable_current_feedback(short int motors);
+    /**
+     * \brief 
+     *
+     */
+    virtual void cont_disable_limits_feedback(short int motors);
+    /**
+     * \brief 
+     *
+     */
+    virtual void cont_get_position(short int motors,std::vector<long int>& position);
+    /**
+     * \brief 
+     *
+     */
+    virtual void cont_get_velocity(short int motors,std::vector<long int>& velocity);
+    /**
+     * \brief 
+     *
+     */
+    virtual void cont_get_acceleration(short int motors,std::vector<long int>& accel);
+    /**
+     * \brief 
+     *
+     */
+    virtual void cont_get_current(short int motors,std::vector<float>& current);
+    /**
+     * \brief 
+     *
+     */
+    virtual void cont_get_limits(short int motors,std::vector<short int>& limits);
+    /**
+     * \brief 
+     *
+     */
+    virtual void cont_wait_for_events(std::vector<short int>& events);
+    /**
+     * \brief 
+     *
+     */
+    virtual void cont_set_gpio(int gpio_id,gpio_type type);
+    /**
+     * \brief 
+     *
+     */
+    virtual void cont_write_gpio(int gpio_id,bool value);
+    /**
+     * \brief 
+     *
+     */
+    virtual void cont_write_gpio(int gpio_id,float value);
+    /**
+     * \brief 
+     *
+     */
+    virtual float cont_read_gpio(int gpio_id);
+    /**
+     * \brief 
+     *
+     */
+    virtual void cont_flush_hardware_queue(short int motors);   
+    /**
+     * \brief 
+     *
+     */
+    virtual void cont_config(void *config);
+    /**
+     * \brief 
+     *
+     */
+    virtual void cont_save_config(std::string& filename);
+    /**
+     * \brief 
+     *
+     */
+    virtual void cont_load_config(std::string& filename);
+    /**
+     * \brief 
+     *
+     */
+    virtual void cont_enable(short int motors);
+    /**
+     * \brief 
+     *
+     */
+    virtual void cont_disable(short int motors);
+    /**
+     * \brief 
+     *
+     */
+    virtual void cont_home(short int motors);
+    /**
+     * \brief 
+     *
+     */
+    virtual void cont_load(short int motors,std::vector<long int>& position, std::vector<long int>& velocity, std::vector<long int>& accel);
+    /**
+     * \brief 
+     *
+     */
+    virtual void cont_load(short int motors,std::vector<long int>& velocity, std::vector<long int>& accel);
+    /**
+     * \brief 
+     *
+     */
+    virtual void cont_move(short int motors);
+    /**
+     * \brief
+     *
+     */
+    virtual void cont_reset(void);
+    /**
+     * \brief 
+     *
+     */
+    virtual void cont_stop(short int motors);
+    /**
+     * \brief 
+     *
+     */
+    virtual void cont_close(void);
+    /**
+     * \brief 
+     *
+     */
+    void reset_motor(void);
+  public:
+    /**
+     * \brief
+     *
+     */ 
+    CDynamixelMotor(std::string& cont_id,unsigned char bus_id,unsigned char dev_id);
+    /**
+     * \brief 
+     *
+     */ 
+    int get_baudrate(void);
+    /**
+     * \brief
+     *
+     */ 
+    unsigned char get_node_address(void);
+    /**
+     * \brief 
+     *  
+     */ 
+    std::string get_model(void);
+    /**
+     * \brief 
+     *  
+     */
+    unsigned char get_firmware_version(void); 
+    /**
+     * \brief 
+     *  
+     */ 
+    int get_temperature_limit(void);
+    /**
+     * \brief 
+     *  
+     */ 
+    void set_temperature_limit(int limit);
+    /**
+     * \brief 
+     *  
+     */
+    int get_current_temperature(void); 
+    /**
+     * \brief 
+     *  
+     */ 
+    void get_voltage_limits(float *min, float *max);
+    /**
+     * \brief 
+     *  
+     */
+    void set_voltage_limits(float min, float max); 
+    /**
+     * \brief 
+     *  
+     */ 
+    float get_current_voltage(void);
+    /**
+     * \brief 
+     *  
+     */ 
+    unsigned char get_led_alarms(void);
+    /**
+     * \brief 
+     *  
+     */ 
+    void set_led_alarms(unsigned char alarms);
+    /**
+     * \brief 
+     *  
+     */
+    unsigned char get_turn_off_alarms(void); 
+    /**
+     * \brief 
+     *  
+     */
+    void set_turn_off_alarms(unsigned char alarms); 
+    /**
+     * \brief 
+     *  
+     */ 
+    void turn_led_on(void);
+    /**
+     * \brief 
+     *  
+     */ 
+    void turn_led_off(void);
+    /**
+     * \brief 
+     *  
+     */ 
+    void get_compliance_margin(unsigned char *cw_margin, unsigned char *ccw_margin);
+    /**
+     * \brief 
+     *  
+     */ 
+    void set_compliance_margin(unsigned char cw_margin, unsigned char ccw_margin);
+    /**
+     * \brief 
+     *  
+     */ 
+    void get_compliance_slope(unsigned char *cw_slope, unsigned char *ccw_margin);
+    /**
+     * \brief 
+     *  
+     */ 
+    void set_compliance_slope(unsigned char cw_slope, unsigned char ccw_slope);
+    /**
+     * \brief 
+     *  
+     */ 
+    short int get_punch(void);
+    /**
+     * \brief 
+     *  
+     */ 
+    void set_punch(short int punch_value);
+    /**
+     * \brief 
+     *  
+     */
+    bool is_locked(void);
+    /**
+     * \brief 
+     *  
+     */ 
+    void lock(void);
+    /**
+     * \brief 
+     *  
+     */ 
+    void enable_torque_control(void);
+    /**
+     * \brief 
+     *  
+     */ 
+    void disable_torque_control(void);
+    /**
+     * \brief 
+     *  
+     */ 
+    bool is_torque_control_enabled(void);
+    /**
+     * \brief 
+     *  
+     */ 
+    void set_torque(float torque_ratio);
+    /**
+     * \brief 
+     *  
+     */ 
+    float get_torque(void);
+    /**
+     * \brief 
+     *  
+     */ 
+    virtual ~CDynamixelMotor(); 
+};
+
+#endif 

src/examples/CMakeLists.txt

+# edit the following line to add the source code for the example and the name of the executable
+ADD_EXECUTABLE(test_dynamixel_motor test_dynamixel_motor.cpp)
+
+# edit the following line to add the necessary libraries
+TARGET_LINK_LIBRARIES(test_dynamixel_motor dynamixel_motor_cont ${comm_LIBRARY} ${motor_control_LIBRARY})
+

src/examples/test_dynamixel_motor.cpp

+#include "dynamixelexceptions.h"
+#include "dynamixelserver.h"
+#include "eventserver.h"
+#include "exceptions.h"
+#include "dynamixel_motor.h"
+#include <iostream>
+
+std::string cont1_name="AX-12+_1";
+std::string cont2_name="AX-12+_2";
+
+int main(int argc, char *argv[])
+{
+  CDynamixelServer *dyn_server=CDynamixelServer::instance();
+  CEventServer *event_server=CEventServer::instance();
+  std::vector<std::string> motion_done_1;
+  std::vector<int> ids;
+  std::list<std::string> events;
+  CDynamixelMotor *cont1;
+  std::vector<float> pos1,vel1,acc1;
+  std::vector<float> pos2,max,min;
+  std::vector<float> position;
+  std::vector<float> current;
+  short int motors=0x0001;
+  int i=0;
+/*
+  try{
+    if(dyn_server->get_num_buses()>0)
+    {
+      events.push_back(dyn_server->get_scan_done_event_id());
+      dyn_server->start_scan(0);
+      event_server->wait_first(events);
+      std::cout << "Found " << dyn_server->get_num_devices() << " devices" << std::endl;
+      ids=dyn_server->get_device_ids();
+      for(i=0;i<dyn_server->get_num_devices();i++)
+        std::cout << "Device " << i << " -> id: " << ids[i] << std::endl;
+      cont1=new CDynamixelMotor(cont1_name,0,ids[0]);
+      cont1->enable(motors);
+      cont1->get_position_range(motors,min,max);
+      std::cout << min[0] << "," << max[0] << std::endl;
+      min[0]=0.0;
+      max[0]=300.0;
+      cont1->set_position_range(motors,min,max);
+      cont1->get_position(motors,position);
+      std::cout << "Current position of device " << ids[0] << ": " << position[0] << std::endl;
+      cont1->get_blend_complete_event(motors,motion_done_1);
+      events.clear();
+      events.push_back(motion_done_1[0]);
+      pos1.push_back(position[0]+50.0);
+      pos2.push_back(position[0]-50.0);
+      vel1.push_back(10.0);
+      acc1.push_back(10.0);
+
+      for(i=0;i<10;i++) 
+      {
+        event_server->wait_all(events); 
+        std::cout << "moving left ..." << std::endl;
+        cont1->load(motors,pos1,vel1,acc1);
+        cont1->move(motors);
+        event_server->wait_all(events); 
+        std::cout << "moving right..." << std::endl;
+        cont1->load(motors,pos2,vel1,acc1);
+        cont1->move(motors);
+      }
+    }
+  }catch(CException &e){
+    std::cout << e.what() << std::endl;
+  }
+  return 0; 
+*/
+  try{
+    if(dyn_server->get_num_buses()>0)
+    {
+      events.push_back(dyn_server->get_scan_done_event_id());
+      dyn_server->start_scan(0);
+      event_server->wait_first(events);
+      std::cout << "Found " << dyn_server->get_num_devices() << " devices" << std::endl;
+      ids=dyn_server->get_device_ids();
+      for(i=0;i<dyn_server->get_num_devices();i++)
+        std::cout << "Device " << i << " -> id: " << ids[i] << std::endl;
+      cont1=new CDynamixelMotor(cont1_name,0,ids[0]);
+      cont1->enable(motors);
+      cont1->enable_torque_control();
+      cont1->get_position(motors,position);
+      std::cout << "Current position of device " << ids[0] << ": " << position[0] << std::endl;
+      cont1->set_torque(100.0);
+      sleep(2);
+      cont1->set_torque(-100.0);
+      sleep(2);
+      cont1->set_torque(0.0);
+    }
+  }catch(CException &e){
+    std::cout << e.what() << std::endl;
+  }
+
+
+  return 0;
+}