This driver offers a c++ wrapper to control a pan&tilt unit build with two [dynamixel servos](http://www.robotis.us/dynamixel/). This driver provides a set of functions to:
* Configure both servos with an XML file.
* Download the current configuration to a XML file.
* Move both servos to a desired position.
* Move both servos to a desired position relative to the current position.
* Move both servos on torque mode.
* Get any feedback that servos offers.
## Installation
If the labrobotica's repository was already added to your computer, it's only necessary the third command:
Copyright (C) 20017-2019 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
Author labrobotica (labrobotica@iri.upc.edu)
All rights reserved.
This file is part of dynamixel pan&tilt driver library
dynamixel pan&tilt driver 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/>
## For developers
<details><summary>click here</summary>
<p>
## Dependencies
This package requires of the following system libraries and packages
* [cmake](https://www.cmake.org "CMake's Homepage"), a cross-platform build system.
* [doxygen](http://www.doxygen.org "Doxygen's Homepage") and [graphviz](http://www.graphviz.org "Graphviz's Homepage") to generate the documentation.
* [XSD](http://wiki.codesynthesis.com/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](http://www.finkproject.org/ "Fink's Homepage")
This package also requires of the following IRI libraries:
* [iriutils](https://gitlab.iri.upc.edu/labrobotica/algorithms/iriutils "iriutils gitlab page"), a set of basic tools.
* [comm](https://gitlab.iri.upc.edu/labrobotica/drivers/comm "comm gitlab page"), a set of drivers for standard communication devices.
* [dynamixel](https://gitlab.iri.upc.edu/labrobotica/drivers/dynamixel "dynamixel gitlab page"), a driver for dynamixel communication protocol.
* [dynamixel_motor_cont](https://gitlab.iri.upc.edu/labrobotica/drivers/dynamixel_motor_cont "dynamixel_motor_cont gitlab page"), a driver for dynamixel communication protocol.
## Compilation and installation
Download 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
``` cmake .. -DCMAKE_BUILD_TYPE=RELEASE ```
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_pan_tilt* directory
and the header files will be copied to */usr/local/include/iri/dynamixel_pan_tilt* dierctory. If the
support for XML file is enabled, all the necessary files will be copied to */usr/local/include/iri/dynamixel_pan_tilt/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_pan_tilt) ```
In the case that the package is present, it is necessary to add the header files directory to the include directory path by using
