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Commit cc0c7e72 authored by Sergi Hernandez's avatar Sergi Hernandez
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Merged the version without the motor control library to trunk.

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src/CMakeLists.txt
+ 2
− 4
View file @ cc0c7e72
......@@ -11,17 +11,15 @@ 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(${iriutils_INCLUDE_DIR} ${comm_INCLUDE_DIR} ${dynamixel_INCLUDE_DIR} ${motor_control_INCLUDE_DIR} .)
INCLUDE_DIRECTORIES(. ${iriutils_INCLUDE_DIR} ${comm_INCLUDE_DIR} ${dynamixel_INCLUDE_DIR})
SET_SOURCE_FILES_PROPERTIES(${XSD_SOURCES} PROPERTIES GENERATED 1)
ADD_LIBRARY(dynamixel_motor_cont SHARED ${sources} ${XSD_SOURCES})
#edit the following line to add the necessary system libraries (if any)
TARGET_LINK_LIBRARIES(dynamixel_motor_cont ${iriutils_LIBRARY} ${comm_LIBRARY} ${dynamixel_LIBRARY} ${motor_control_LIBRARY} ${XSD_LIBRARY})
TARGET_LINK_LIBRARIES(dynamixel_motor_cont ${iriutils_LIBRARY} ${comm_LIBRARY} ${dynamixel_LIBRARY} ${XSD_LIBRARY})
ADD_DEPENDENCIES(dynamixel_motor_cont xsd_files_gen)
......
src/dynamixel_motor.cpp
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− 897
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src/dynamixel_motor.h
+ 395
− 439
View file @ cc0c7e72
#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,
pid_p=0x1A,
pid_i=0x1B,
pid_d=0x1C,
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;
/**
* \brief
*
*/
long int current_position;
// model attributes
/**
* \brief
*
*/
int dyn_enc_res;
/**
* \brief
*
*/
int dyn_max_angle;
/**
* \brief
*
*/
int dyn_max_speed;
/**
* \brief
*
*/
int dyn_max_torque;
protected:
/**
* \brief
*
*/
virtual void angles_to_controller(std::vector<float>& angles,std::vector<float>& counts);
/**
* \brief
*
*/
virtual void speeds_to_controller(std::vector<float>& angles,std::vector<float>& counts);
/**
* \brief
*
*/
virtual void accels_to_controller(std::vector<float>& angles,std::vector<float>& counts);
/**
* \brief
*
*/
virtual void controller_to_angles(std::vector<float>& counts,std::vector<float>& angles);
/**
* \brief
*
*/
virtual void controller_to_speeds(std::vector<float>& counts,std::vector<float>& angles);
/**
* \brief
*
*/
virtual void controller_to_accels(std::vector<float>& counts,std::vector<float>& angles);
/**
* \brief
*
*/
virtual void cont_set_position_range(std::vector<float>& min, std::vector<float>& max);
/**
* \brief
*
*/
virtual void cont_get_position_range(std::vector<float>& min, std::vector<float>& max);
/**
* \brief
*
*/
virtual void cont_get_gear_factor(std::vector<float>& gear);
/**
* \brief
*
*/
virtual std::vector<float> cont_get_position(void);
/**
* \brief
*
*/
virtual std::vector<float> cont_get_velocity(void);
/**
* \brief
*
*/
virtual void cont_enable(std::vector<bool> &enable);
/**
* \brief
*
*/
virtual void cont_disable(std::vector<bool> &disable);
/**
* \brief
*
*/
virtual void cont_load(std::vector<float>& position, std::vector<float>& velocity, std::vector<float>& accel);
/**
* \brief
*
*/
virtual void cont_load(std::vector<float>& velocity, std::vector<float>& accel);
/**
* \brief
*
*/
virtual void cont_move(void);
/**
* \brief
*
*/
virtual void cont_stop(void);
/**
* \brief
*
*/
virtual void cont_close(void);
#ifdef _HAVE_XSD
/**
* \brief
*
*/
virtual void cont_load_config(std::string &filename);
/**
* \brief
*
*/
virtual void cont_save_config(std::string &filename);
#endif
/**
* \brief
*
*/
void reset_motor(void);
public:
/**
* \brief
*
*/
CDynamixelMotor(std::string& cont_id,unsigned char bus_id,int baudrate,unsigned char dev_id);
/**
* \brief
*
*/
CDynamixelMotor(std::string& cont_id,std::string &bus_id,int baudrate,unsigned char dev_id);
/**
* \brief
*
*/
int get_baudrate(void);
/**
* \brief
*
*/
unsigned char get_node_address(void);
/**
* \brief
*
*/
void set_node_address(unsigned char dev_id);
/**
* \brief
*
*/
std::string get_model(void);
/**
* \brief
*
*/
int get_id(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
*
*/
void get_pid(unsigned char *p,unsigned char *i,unsigned char *d);
/**
* \brief
*
*/
void set_pid(unsigned char p,unsigned char i,unsigned char d);
/**
* \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
*
*/
float get_max_torque(void);
/**
* \brief
*
*/
float get_limit_torque(void);
/**
* \brief
*
*/
virtual ~CDynamixelMotor();
};
#endif
#ifndef _DYNAMIXEL_MOTOR_H
#define _DYNAMIXEL_MOTOR_H
#include "dynamixelserver.h"
#include "threadserver.h"
#include "eventserver.h"
#include "ftdimodule.h"
#include "mutex.h"
#include <stdio.h>
#include <stdlib.h>
#include <string>
#include <vector>
#include <memory>
typedef enum {
// [Access] [Description]
// EEPROM Area
model_number=0x00, // (R) Model Number
firmware_version=0x02, // (R) Version of the Firmware
id=0x03, // (RW) ID of Dynamixel
baudrate=0x04, // (RW) Baud Rate of Dynamixel
return_delay_time=0x05, // (RW) Return Delay Time
cw_angle_limit=0x06, // (RW) Clockwise Angle Limit
ccw_angle_limit=0x08, // (RW) Counterclockwise Angle Limit
temp_limit=0x0B, // (RW) Internal Temperature Limit
low_voltage_limit=0x0C, // (RW) Lowest Voltage Limit
high_voltage_limit=0x0D, // (RW) Highest Voltage Limit
max_torque=0x0E, // (RW) Maximum Torque
return_level=0x10, // (RW) Status Return Level
alarm_led=0x11, // (RW) LED for Alarm
alarm_shtdwn=0x12, // (RW) Shutdown for Alarm
down_cal=0x14, // (RW)
up_cal=0x16, // (RW)
// RAM Area
torque_en=0x18, // (RW) Torque On/Off
led=0x19, // (RW) LED On/Off
pid_p=0x1A, // (RW)
pid_i=0x1B, // (RW)
pid_d=0x1C, // (RW)
cw_comp_margin=0x1A, // (RW) CW Compliance Margin
ccw_comp_margin=0x1B, // (RW) CCW Compliance Margin
cw_comp_slope=0x1C, // (RW) CW Compliance Slope
ccw_comp_slope=0x1D, // (RW) CCW Compliance Slope
goal_pos=0x1E, // (RW) Goal Position
goal_speed=0x20, // (RW) Moving Speed
torque_limit=0x22, // (RW) Torque Limit
current_pos=0x24, // (R) Current Position
current_speed=0x26, // (R) Current Speed
current_load=0x28, // (R) Current Load
current_voltage=0x2A, // (R) Current Voltage
current_temp=0x2B, // (RW) Current Temperature
reg_inst=0x2C, // (RW) Means if Instruction is registered
moving=0x2E, // (R) Means if there is any movement
lock=0x2F, // (RW) Locking EEPROM
punch=0x30 // (RW) Punch
} 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;
unsigned int gear_ratio;
unsigned int encoder_resolution;
bool pid_control;
double max_angle;
double center_angle;
double max_speed;
std::string bus_id;
unsigned int baudrate;
unsigned char id;
}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_compliance;
typedef struct
{
unsigned char p;
unsigned char i;
unsigned char d;
}TDynamixel_pid;
typedef struct
{
double max_angle;
double min_angle;
double max_temperature;
double max_voltage;
double min_voltage;
double max_torque;
}TDynamixel_config;
typedef enum{angle_ctrl=0,torque_ctrl=1} control_mode;
/**
* \brief
*
*/
class CDynamixelMotor
{
private:
CDynamixelServer *dyn_server;
/**
* \brief
*
*/
CDynamixel *dynamixel_dev;
/**
* \brief
*
*/
TDynamixel_compliance compliance;
/**
* \brief
*
*/
TDynamixel_pid pid;
/**
* \brief
*
*/
TDynamixel_config config;
/**
* \brief
*
*/
TDynamixel_info info;
/**
* \brief
*
*/
unsigned char alarms;
/**
* \brief
*
*/
control_mode mode;
protected:
/**
* \brief
*
*/
unsigned int from_angles(double angle);
/**
* \brief
*
*/
unsigned int from_speeds(double speed);
/**
* \brief
*
*/
double to_angles(unsigned short int counts);
/**
* \brief
*
*/
double to_speeds(unsigned short int counts);
/**
* \brief
*
*/
void reset_motor(void);
/**
* \brief
*
*/
void get_model(void);
public:
/**
* \brief
*
*/
CDynamixelMotor(std::string& cont_id,unsigned char bus_id,int baudrate,unsigned char dev_id);
/**
* \brief
*
*/
CDynamixelMotor(std::string& cont_id,std::string &bus_id,int baudrate,unsigned char dev_id);
/**
* \brief
*
*/
void get_servo_info(TDynamixel_info &info);
/* configuration functions */
/**
* \brief
*
*/
void load_config(TDynamixel_config &config);
#ifdef _HAVE_XSD
/**
* \brief
*
*/
void load_config(std::string &filename);
/**
* \brief
*
*/
void save_config(std::string &filename);
#endif
/**
* \brief
*
*/
void set_position_range(double min,double max);
/**
* \brief
*
*/
void get_position_range(double *min, double *max);
/**
* \brief
*
*/
int get_temperature_limit(void);
/**
* \brief
*
*/
void set_temperature_limit(int limit);
/**
* \brief
*
*/
void get_voltage_limits(double *min, double *max);
/**
* \brief
*
*/
void set_voltage_limits(double min, double max);
/**
* \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
*
*/
double get_max_torque(void);
/**
* \brief
*
*/
double get_limit_torque(void);
/**
* \brief
*
*/
void set_max_torque(double torque_ratio);
/**
* \brief
*
*/
void set_limit_torque(double torque_ratio);
/**
* \brief
*
*/
void get_compliance_control(TDynamixel_compliance &config);
/**
* \brief
*
*/
void set_compliance_control(TDynamixel_compliance &config);
/**
* \brief
*
*/
void get_pid_control(TDynamixel_pid &config);
/**
* \brief
*
*/
void set_pid_control(TDynamixel_pid &config);
/* control functions */
/**
* \brief
*
*/
void turn_led_on(void);
/**
* \brief
*
*/
void turn_led_off(void);
/**
* \brief
*
*/
bool is_locked(void);
/**
* \brief
*
*/
void lock(void);
/**
* \brief
*
*/
void enable(void);
/**
* \brief
*
*/
void disable(void);
/**
* \brief
*
*/
void move_absolute_angle(double angle,double speed);
/**
* \brief
*
*/
void move_relative_angle(double angle,double speed);
/**
* \brief
*
*/
void move_torque(double torque_ratio);
/**
* \brief
*
*/
void stop(void);
/**
* \brief
*
*/
double get_current_angle(void);
/**
* \brief
*
*/
double get_current_speed(void);
/**
* \brief
*
*/
double get_current_effort(void);
/**
* \brief
*
*/
double get_current_voltage(void);
/**
* \brief
*
*/
double get_current_temperature(void);
/**
* \brief
*
*/
virtual ~CDynamixelMotor();
};
#endif
src/dynamixel_motor_exceptions.cpp
+ 7
− 0
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......@@ -5,6 +5,7 @@
const std::string dynamixel_motor_error_message="DynamixelMotor error - ";
const std::string dynamixel_motor_group_error_message="DynamixelMotorGroup error - ";
const std::string dynamixel_motion_sequence_error_message="DynamixelMotionSeq error - ";
CDynamixelMotorException::CDynamixelMotorException(const std::string& where,const std::string &error_msg):CException(where,dynamixel_motor_error_message)
{
......@@ -20,3 +21,9 @@ CDynamixelMotorGroupException::CDynamixelMotorGroupException(const std::string&
this->error_msg+=error_msg;
}
CDynamixelMotionSequenceException::CDynamixelMotionSequenceException(const std::string& where,const std::string &error_msg):CException(where,dynamixel_motion_sequence_error_message)
{
std::stringstream text;
this->error_msg+=error_msg;
}
src/dynamixel_motor_exceptions.h
+ 12
− 0
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......@@ -33,4 +33,16 @@ class CDynamixelMotorGroupException : public CException
CDynamixelMotorGroupException(const std::string& where,const std::string &error_msg);
};
/**
* \brief
*/
class CDynamixelMotionSequenceException : public CException
{
public:
/**
* \brief
*
*/
CDynamixelMotionSequenceException(const std::string& where,const std::string &error_msg);
};
#endif
src/dynamixel_motor_group.cpp
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src/dynamixel_motor_group.h
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− 10
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src/examples/CMakeLists.txt
+ 4
− 28
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......@@ -2,40 +2,16 @@
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})
# edit the following line to add the source code for the example and the name of the executable
ADD_EXECUTABLE(test_dynamixel_motor_scan test_dynamixel_motor_scan.cpp)
# edit the following line to add the necessary libraries
TARGET_LINK_LIBRARIES(test_dynamixel_motor_scan dynamixel_motor_cont ${comm_LIBRARY} ${motor_control_LIBRARY})
# edit the following line to add the source code for the example and the name of the executable
ADD_EXECUTABLE(test_sequence test_sequence.cpp)
# edit the following line to add the necessary libraries
TARGET_LINK_LIBRARIES(test_sequence dynamixel_motor_cont ${comm_LIBRARY} ${motor_control_LIBRARY})
TARGET_LINK_LIBRARIES(test_dynamixel_motor dynamixel_motor_cont ${comm_LIBRARY})
# edit the following line to add the source code for the example and the name of the executable
ADD_EXECUTABLE(test_dynamixel_motor_group test_dynamixel_motor_group.cpp)
# edit the following line to add the necessary libraries
TARGET_LINK_LIBRARIES(test_dynamixel_motor_group dynamixel_motor_cont ${comm_LIBRARY} ${motor_control_LIBRARY})
# edit the following line to add the source code for the example and the name of the executable
ADD_EXECUTABLE(test_dynamixel_motor_open_loop test_dynamixel_motor_open_loop.cpp)
# edit the following line to add the necessary libraries
TARGET_LINK_LIBRARIES(test_dynamixel_motor_open_loop dynamixel_motor_cont ${comm_LIBRARY} ${motor_control_LIBRARY})
# edit the following line to add the source code for the example and the name of the executable
ADD_EXECUTABLE(test_dynamixel_motor_group_open_loop test_dynamixel_motor_group_open_loop.cpp)
# edit the following line to add the necessary libraries
TARGET_LINK_LIBRARIES(test_dynamixel_motor_group_open_loop dynamixel_motor_cont ${comm_LIBRARY} ${motor_control_LIBRARY})
TARGET_LINK_LIBRARIES(test_dynamixel_motor_group dynamixel_motor_cont ${comm_LIBRARY})
# edit the following line to add the source code for the example and the name of the executable
ADD_EXECUTABLE(test_sequence_open_loop test_sequence_open_loop.cpp)
ADD_EXECUTABLE(test_dynamixel_motion_seq test_dynamixel_motion_seq.cpp)
# edit the following line to add the necessary libraries
TARGET_LINK_LIBRARIES(test_sequence_open_loop dynamixel_motor_cont ${comm_LIBRARY} ${motor_control_LIBRARY})
TARGET_LINK_LIBRARIES(test_dynamixel_motion_seq dynamixel_motor_cont ${comm_LIBRARY})
src/examples/test_dynamixel_motion_seq.cpp 0 → 100755
+ 40
− 0
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#include "dynamixelexceptions.h"
#include "dynamixelserver.h"
#include "eventserver.h"
#include "exceptions.h"
#include "dynamixel_motor_group.h"
#include "dynamixel_motor.h"
#include <iostream>
#include <math.h>
std::string sequence_filename="../src/xml/sequence1.xml";
std::string group_name="GROUP1";
std::string config_file="../src/xml/dyn_group_config.xml";
int main(int argc, char *argv[])
{
CDynamixelServer *dyn_server=CDynamixelServer::instance();
CEventServer *event_server=CEventServer::instance();
std::vector<double> angles,speeds;
CDynamixelMotorGroup group(group_name);
try{
if(dyn_server->get_num_buses()>0)
{
group.load_config(config_file);
group.load_sequence(sequence_filename);
group.start_sequence();
while(!event_server->event_is_set(group.get_sequence_complete_event_id()))
{
std::cout << group.get_sequence_completed_percentage() << "% of sequence completed" << std::endl;
usleep(200000);
}
}
}catch(CException &e){
std::cout << e.what() << std::endl;
}
}
src/examples/test_dynamixel_motor.cpp
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src/examples/test_dynamixel_motor_group.cpp
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src/examples/test_dynamixel_motor_group_open_loop.cpp deleted 100755 → 0
+ 0
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src/examples/test_dynamixel_motor_open_loop.cpp deleted 100755 → 0
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− 146
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src/examples/test_dynamixel_motor_scan.cpp deleted 100755 → 0
+ 0
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src/examples/test_sequence.cpp deleted 100755 → 0
+ 0
− 92
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src/examples/test_sequence_open_loop.cpp deleted 100755 → 0
+ 0
− 89
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src/xml/CMakeLists.txt
+ 2
− 2
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......@@ -13,7 +13,7 @@ ENDIF(EXISTS "/usr/include/xsd/cxx")
IF(XSD_FOUND)
SET(XSD_LIBRARY ${XSD_LIBRARY} PARENT_SCOPE)
SET(XSD_FILES dynamixel_motor_cfg_file.xsd)
SET(XSD_FILES dynamixel_motor_cfg_file.xsd dynamixel_motor_group_cfg_file.xsd dyn_motion_seq_file.xsd)
IF(XSD_FILES)
SET(XSD_PATH ${CMAKE_CURRENT_SOURCE_DIR})
......@@ -34,7 +34,7 @@ IF(XSD_FOUND)
ADD_CUSTOM_TARGET(xsd_files_gen DEPENDS ${XSD_SOURCES_INT})
ADD_CUSTOM_COMMAND(
OUTPUT ${XSD_SOURCES_INT}
COMMAND xsd cxx-tree --generate-serialization ${XSD_FILES}
COMMAND xsdcxx cxx-tree --generate-serialization ${XSD_FILES}
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
DEPENDS ${XSD_PATH_FILES}
COMMENT "Parsing the xml template file ${XSD_FILES}")
......
src/xml/base_dyn_config.xml deleted 100755 → 0
+ 0
− 38
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src/xml/dyn_config.xml
+ 12
− 5
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......@@ -3,12 +3,19 @@
<dynamixel_motor_config xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:noNamespaceSchemaLocation="dynamixel_motor_cfg_file.xsd">
<alarm_shtdwn>4</alarm_shtdwn>
<min_angle>-125</min_angle>
<max_angle>125</max_angle>
<temp_limit>85</temp_limit>
<max_voltage>19</max_voltage>
<min_voltage>6</min_voltage>
<cw_comp_margin>2</cw_comp_margin>
<ccw_comp_margin>2</ccw_comp_margin>
<cw_comp_slope>16</cw_comp_slope>
<ccw_comp_slope>16</ccw_comp_slope>
<punch>0</punch>
<max_torque>100</max_torque>
<cw_comp_margin>0</cw_comp_margin>
<ccw_comp_margin>0</ccw_comp_margin>
<cw_comp_slope>32</cw_comp_slope>
<ccw_comp_slope>32</ccw_comp_slope>
<punch>32</punch>
<kp>0</kp>
<ki>0</ki>
<kd>0</kd>
</dynamixel_motor_config>
src/xml/dyn_group_config.xml 0 → 100755
+ 16
− 0
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