Commit 5e480132 authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
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parent 8ab8661c
Dynamixel\_motor\_cont library {#mainpage}
## Description
This driver offers a c++ wrapper to control a [dynamixel servo]( This driver provides a set of functions to:
* Configure the servo with an XML file.
* Download the current configuration to a XML file.
* Move the servo to a desired position.
* Move the servo to a desired position relative to the current position.
* Move the servo on torque mode.
* Get any feedback that the servo offers.
## Installation
* Add the labrobotica repository if it is not already added:
``` sudo sh -c 'echo "deb [arch=amd64] xenial main" > /etc/apt/sources.list.d/labrobotica_repo.list' ```
``` wget -O - | sudo apt-key add - ```
* Install the package:
``` sudo apt update && sudo apt install iri-dynamixel-motor-cont-dev ```
## Disclaimer
Copyright (C) 2009-2019 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
Mantainer IRI labrobotics (
This package is distributed in the hope that it will be useful, but without any warranty. It is provided "as is" without warranty of any kind, either expressed or implied, including, but not limited to, the implied warranties of merchantability and fitness for a particular purpose. The entire risk as to the quality and performance of the program is with you. should the program prove defective, the GMR group does not assume the cost of any necessary servicing, repair or correction.
In no event unless required by applicable law the author will be liable to you for damages, including any general, special, incidental or consequential damages arising out of the use or inability to use the program (including but not limited to loss of data or data being rendered inaccurate or losses sustained by you or third parties or a failure of the program to operate with any other programs), even if the author has been advised of the possibility of such damages.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see <>
## For developers
<details><summary>click here</summary>
## Dependencies
This package requires of the following system libraries and packages
* [cmake]( "CMake's Homepage"), a cross-platform build system.
* [doxygen]( "Doxygen's Homepage") and [graphviz]( "Graphviz's Homepage") to generate the documentation.
* [XSD]( "XSD wiki main page") to enable XML support.
* stdc++.
Under linux all of these utilities are available in ready-to-use packages.
Under MacOS most of the packages are available via [fink]( "Fink's Homepage")
This package also requires of the following IRI libraries:
* [iriutils]( "iriutils gitlab page"), a set of basic tools.
* [comm]( "comm gitlab page"), a set of drivers for standard communication devices.
* [dynamixel]( "dynamixel gitlab page"), a driver for dynamixel communication protocol.
## Compilation and installation from source
Clone this repository and create a build folder inside:
``` mkdir build ```
Inside the build folder execute the following commands:
``` cmake .. ```
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 instead
The release mode will be kept until next time cmake is executed.
``` make -j $(nproc)```
In case no errors are reported, the generated libraries (if any) will be located at the
_lib_ folder and the executables (if any) will be located at the _bin_ folder.
In order to be able to use the library, it it necessary to copy it into the system.
To do that, execute
``` make install ```
as root and the shared libraries will be copied to */usr/local/lib/iri/dynamixel_motor_cont* directory
and the header files will be copied to */usr/local/include/iri/dynamixel_motor_cont* dierctory. If the
support for XML file is enabled, all the necessary files will be copied to */usr/local/include/iri/dynamixel_motor_cont/xml*.
At this point, the library may be used by any user.
To remove the library from the system, exceute
``` make uninstall ```
as root, and all the associated files will be removed from the system.
To generate the documentation execute the following command:
``` make doc ```
## How to use it
To use this library in an other library or application, in the CMakeLists.txt file, first it is necessary to locate if the library has been installed or not using the following command
``` FIND_PACKAGE(dynamixel_motor_cont) ```
In the case that the package is present, it is necessary to add the header files directory to the include directory path by using
``` INCLUDE_DIRECTORIES(${dynamixel_motor_cont_INCLUDE_DIRS}) ```
and it is also necessary to link with the desired libraries by using the following command
``` TARGET_LINK_LIBRARIES(<executable name> ${dynamixel_motor_cont_LIBRARIES}) ```
## Examples
There are several examples that show how to use the different classes.
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