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dynamixel contol table value
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dynamixel contol table value
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"""
Dynamixel Constants
"""
Control table address is different in Dynamixel model. These are for the MX-64AT model
# Control Table Constants
DXL_MODEL_NUMBER_L = 0
DXL_MODEL_NUMBER_H = 1
DXL_VERSION = 2
DXL_ID = 3
DXL_BAUD_RATE = 4
DXL_RETURN_DELAY_TIME = 5
DXL_CW_ANGLE_LIMIT_L = 6
DXL_CW_ANGLE_LIMIT_H = 7
DXL_CCW_ANGLE_LIMIT_L = 8
DXL_CCW_ANGLE_LIMIT_H = 9
DXL_DRIVE_MODE = 10
DXL_LIMIT_TEMPERATURE = 11
DXL_DOWN_LIMIT_VOLTAGE = 12
DXL_UP_LIMIT_VOLTAGE = 13
DXL_MAX_TORQUE_L = 14
DXL_MAX_TORQUE_H = 15
DXL_RETURN_LEVEL = 16
DXL_ALARM_LED = 17
DXL_ALARM_SHUTDOWN = 18
DXL_OPERATING_MODE = 19
DXL_DOWN_CALIBRATION_L = 20
DXL_DOWN_CALIBRATION_H = 21
DXL_UP_CALIBRATION_L = 22
DXL_UP_CALIBRATION_H = 23
DXL_TORQUE_ENABLE = 24
DXL_LED = 25
DXL_CW_COMPLIANCE_MARGIN = 26
DXL_CCW_COMPLIANCE_MARGIN = 27
DXL_CW_COMPLIANCE_SLOPE = 28
DXL_CCW_COMPLIANCE_SLOPE = 29
DXL_D_GAIN = 26
DXL_I_GAIN = 27
DXL_P_GAIN = 28
DXL_GOAL_POSITION_L = 30
DXL_GOAL_POSITION_H = 31
DXL_GOAL_SPEED_L = 32
DXL_GOAL_SPEED_H = 33
DXL_TORQUE_LIMIT_L = 34
DXL_TORQUE_LIMIT_H = 35
DXL_PRESENT_POSITION_L = 36
DXL_PRESENT_POSITION_H = 37
DXL_PRESENT_SPEED_L = 38
DXL_PRESENT_SPEED_H = 39
DXL_PRESENT_LOAD_L = 40
DXL_PRESENT_LOAD_H = 41
DXL_PRESENT_VOLTAGE = 42
DXL_PRESENT_TEMPERATURE = 43
DXL_REGISTERED_INSTRUCTION = 44
DXL_PAUSE_TIME = 45
DXL_MOVING = 46
DXL_LOCK = 47
DXL_PUNCH_L = 48
DXL_PUNCH_H = 49
DXL_SENSED_CURRENT_L = 56 # For EX-106
DXL_SENSED_CURRENT_H = 57
DXL_CURRENT_L = 68 # For MX-64 and up; different unit than EX-106
DXL_CURRENT_H = 69
DXL_TORQUE_CONTROL_MODE = 70
DXL_GOAL_TORQUE_L = 71
DXL_GOAL_TORQUE_H = 72
DXL_GOAL_ACCELERATION = 73
# Status Return Levels
DXL_RETURN_NONE = 0
DXL_RETURN_READ = 1
DXL_RETURN_ALL = 2
# Instruction Set
DXL_PING = 1
DXL_READ_DATA = 2
DXL_WRITE_DATA = 3
DXL_REG_WRITE = 4
DXL_ACTION = 5
DXL_RESET = 6
DXL_SYNC_WRITE = 131
# Broadcast Constant
DXL_BROADCAST = 254
# Error Codes
DXL_INSTRUCTION_ERROR = 64
DXL_OVERLOAD_ERROR = 32
DXL_CHECKSUM_ERROR = 16
DXL_RANGE_ERROR = 8
DXL_OVERHEATING_ERROR = 4
DXL_ANGLE_LIMIT_ERROR = 2
DXL_INPUT_VOLTAGE_ERROR = 1
DXL_NO_ERROR = 0
# Static parameters
DXL_MIN_COMPLIANCE_MARGIN = 0
DXL_MAX_COMPLIANCE_MARGIN = 255
DXL_MIN_COMPLIANCE_SLOPE = 1
DXL_MAX_COMPLIANCE_SLOPE = 254
# These are guesses as Dynamixel documentation doesn't have any info about it
DXL_MIN_PUNCH = 0
DXL_MAX_PUNCH = 255
DXL_MAX_SPEED_TICK = 1023 # maximum speed in encoder units
DXL_MAX_TORQUE_TICK = 1023 # maximum torque in encoder units
KGCM_TO_NM = 0.0980665 # 1 kg-cm is that many N-m
RPM_TO_RADSEC = 0.104719755 # 1 RPM is that many rad/sec