lx16a::LX16A Class Reference

#include <lx16a.hpp>

Collaboration diagram for lx16a::LX16A:

Public Member Functions
	LX16A (std::string serial_port, unsigned int baud_rate)
uint8_t	lower_byte (int value)
uint8_t	higher_byte (int value)
uint8_t	word (int low, int high)
int	clamp (int range_min, int range_max, int value)
uint8_t	get_servo_id (uint8_t servo_id)
void	set_servo_id (uint8_t servo_id, uint8_t new_servo_id)
void	move (uint8_t servo_id, int position, int time=0)
void	move_prepare (uint8_t servo_id, int position, int time=0)
void	move_start (uint8_t servo_id=SERVO_ID_ALL)
void	move_stop (uint8_t servo_id=SERVO_ID_ALL)
std::vector< uint8_t >	get_prepared_move (uint8_t servo_id)
int	get_position_offset (uint8_t servo_id)
std::vector< uint8_t >	get_position_limits (int8_t servo_id)
int	get_position (uint8_t servo_id)
void	set_position_offset (uint8_t servo_id, int deviation)
void	save_position_offset (uint8_t servo_id)
void	set_position_limits (uint8_t servo_id, int min_position, int max_position)
std::vector< uint8_t >	get_voltage_limits (uint8_t servo_id)
uint8_t	get_voltage (uint8_t servo_id)
void	set_voltage_limits (uint8_t servo_id, int min_voltage, int max_voltage)
uint8_t	get_max_temperature_limit (uint8_t servo_id)
uint8_t	get_temperature (uint8_t servo_id)
void	set_max_temperature_limit (uint8_t servo_id, int max_temperature)
uint8_t	get_mode (uint8_t servo_id)
int	get_motor_speed (uint8_t servo_id)
void	set_servo_mode (uint8_t servo_id)
void	set_motor_mode (uint8_t servo_id, int speed=0)
bool	is_motor_on (uint8_t servo_id)
void	motor_on (uint8_t servo_id)
void	motor_off (uint8_t servo_id)
bool	is_led_on (uint8_t servo_id)
void	led_on (uint8_t servo_id)
void	led_off (uint8_t servo_id)
uint8_t	get_led_errors (uint8_t servo_id)
void	set_led_errors (uint8_t servo_id, uint8_t error)

Private Member Functions
void	send_command (uint8_t servo_id, uint8_t command, std::vector< uint8_t > params)
std::vector< uint8_t >	wait_for_response (uint8_t servo_id, uint8_t command)
std::vector< uint8_t >	query (uint8_t servo_id, uint8_t command)

Private Attributes
std::unique_ptr< Serial >	serial
std::unique_ptr< std::mutex >	mtx

Constructor & Destructor Documentation

LX16A()

LX16A::LX16A	(	std::string	serial_port,
		unsigned int	baud_rate )

Member Function Documentation

clamp()

int LX16A::clamp	(	int	range_min,
		int	range_max,
		int	value )

get_led_errors()

uint8_t LX16A::get_led_errors

(

uint8_t

servo_id

)

get_max_temperature_limit()

uint8_t LX16A::get_max_temperature_limit

(

uint8_t

servo_id

)

get_mode()

uint8_t LX16A::get_mode

(

uint8_t

servo_id

)

get_motor_speed()

int LX16A::get_motor_speed

(

uint8_t

servo_id

)

get_position()

int LX16A::get_position

(

uint8_t

servo_id

)

get_position_limits()

std::vector< uint8_t > LX16A::get_position_limits

(

int8_t

servo_id

)

get_position_offset()

int LX16A::get_position_offset

(

uint8_t

servo_id

)

get_prepared_move()

std::vector< uint8_t > LX16A::get_prepared_move

(

uint8_t

servo_id

)

get_servo_id()

uint8_t LX16A::get_servo_id

(

uint8_t

servo_id

)

get_temperature()

uint8_t LX16A::get_temperature

(

uint8_t

servo_id

)

get_voltage()

uint8_t LX16A::get_voltage

(

uint8_t

servo_id

)

get_voltage_limits()

std::vector< uint8_t > LX16A::get_voltage_limits

(

uint8_t

servo_id

)

higher_byte()

uint8_t LX16A::higher_byte

(

int

value

)

is_led_on()

bool LX16A::is_led_on

(

uint8_t

servo_id

)

is_motor_on()

bool LX16A::is_motor_on

(

uint8_t

servo_id

)

led_off()

void LX16A::led_off

(

uint8_t

servo_id

)

led_on()

void LX16A::led_on

(

uint8_t

servo_id

)

lower_byte()

uint8_t LX16A::lower_byte

(

int

value

)

motor_off()

void LX16A::motor_off

(

uint8_t

servo_id

)

motor_on()

void LX16A::motor_on

(

uint8_t

servo_id

)

move()

void LX16A::move	(	uint8_t	servo_id,
		int	position,
		int	time = 0 )

move_prepare()

void LX16A::move_prepare	(	uint8_t	servo_id,
		int	position,
		int	time = 0 )

move_start()

void LX16A::move_start

(

uint8_t

servo_id = SERVO_ID_ALL

)

move_stop()

void LX16A::move_stop

(

uint8_t

servo_id = SERVO_ID_ALL

)

query()

std::vector< uint8_t > LX16A::query ( uint8_t servo_id, uint8_t command )

private

save_position_offset()

void LX16A::save_position_offset

(

uint8_t

servo_id

)

send_command()

void LX16A::send_command ( uint8_t servo_id, uint8_t command, std::vector< uint8_t > params )

private

set_led_errors()

void LX16A::set_led_errors	(	uint8_t	servo_id,
		uint8_t	error )

set_max_temperature_limit()

void LX16A::set_max_temperature_limit	(	uint8_t	servo_id,
		int	max_temperature )

set_motor_mode()

void LX16A::set_motor_mode	(	uint8_t	servo_id,
		int	speed = 0 )

set_position_limits()

void LX16A::set_position_limits	(	uint8_t	servo_id,
		int	min_position,
		int	max_position )

set_position_offset()

void LX16A::set_position_offset	(	uint8_t	servo_id,
		int	deviation )

set_servo_id()

void LX16A::set_servo_id	(	uint8_t	servo_id,
		uint8_t	new_servo_id )

set_servo_mode()

void LX16A::set_servo_mode

(

uint8_t

servo_id

)

set_voltage_limits()

void LX16A::set_voltage_limits	(	uint8_t	servo_id,
		int	min_voltage,
		int	max_voltage )

wait_for_response()

std::vector< uint8_t > LX16A::wait_for_response ( uint8_t servo_id, uint8_t command )

private

word()

uint8_t LX16A::word	(	int	low,
		int	high )

Member Data Documentation

mtx

std::unique_ptr<std::mutex> lx16a::LX16A::mtx

private

serial

std::unique_ptr<Serial> lx16a::LX16A::serial

private

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The documentation for this class was generated from the following files:

• rover_motor_controller_cpp/include/lx16a/lx16a.hpp
• rover_motor_controller_cpp/src/lx16a/lx16a.cpp