lx16a_consts.hpp

Go to the documentation of this file.

// MIT License
 
// Copyright (c) 2023 Miguel Ángel González Santamarta
 
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
 
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
 
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.
 
#ifndef LX16A_CONSTS_HPP
#define LX16A_CONSTS_HPP
 
#include <cstdint>
 
namespace lx16a {
 
constexpr uint8_t SERVO_ID_ALL = 0xfe;
constexpr uint8_t SERVO_FRAME_HEADER = 0x55;
 
// CMDS
constexpr uint8_t SERVO_MOVE_TIME_WRITE = 1;
constexpr uint8_t SERVO_MOVE_TIME_READ = 2;
constexpr uint8_t SERVO_MOVE_TIME_WAIT_WRITE = 7;
constexpr uint8_t SERVO_MOVE_TIME_WAIT_READ = 8;
constexpr uint8_t SERVO_MOVE_START = 11;
constexpr uint8_t SERVO_MOVE_STOP = 12;
constexpr uint8_t SERVO_ID_WRITE = 13;
constexpr uint8_t SERVO_ID_READ = 14;
constexpr uint8_t SERVO_ANGLE_OFFSET_ADJUST = 17;
constexpr uint8_t SERVO_ANGLE_OFFSET_WRITE = 18;
constexpr uint8_t SERVO_ANGLE_OFFSET_READ = 19;
constexpr uint8_t SERVO_ANGLE_LIMIT_WRITE = 20;
constexpr uint8_t SERVO_ANGLE_LIMIT_READ = 21;
constexpr uint8_t SERVO_VIN_LIMIT_WRITE = 22;
constexpr uint8_t SERVO_VIN_LIMIT_READ = 23;
constexpr uint8_t SERVO_TEMP_MAX_LIMIT_WRITE = 24;
constexpr uint8_t SERVO_TEMP_MAX_LIMIT_READ = 25;
constexpr uint8_t SERVO_TEMP_READ = 26;
constexpr uint8_t SERVO_VIN_READ = 27;
constexpr uint8_t SERVO_POS_READ = 28;
constexpr uint8_t SERVO_OR_MOTOR_MODE_WRITE = 29;
constexpr uint8_t SERVO_OR_MOTOR_MODE_READ = 30;
constexpr uint8_t SERVO_LOAD_OR_UNLOAD_WRITE = 31;
constexpr uint8_t SERVO_LOAD_OR_UNLOAD_READ = 32;
constexpr uint8_t SERVO_LED_CTRL_WRITE = 33;
constexpr uint8_t SERVO_LED_CTRL_READ = 34;
constexpr uint8_t SERVO_LED_ERROR_WRITE = 35;
constexpr uint8_t SERVO_LED_ERROR_READ = 36;
 
// ERRORS
constexpr uint8_t SERVO_ERROR_OVER_TEMPERATURE = 1;
constexpr uint8_t SERVO_ERROR_OVER_VOLTAGE = 2;
constexpr uint8_t SERVO_ERROR_LOCKED_ROTOR = 4;
 
// SERVOS
constexpr uint8_t MOTOR_LEFT_FRONT = 1;
constexpr uint8_t MOTOR_LEFT_MIDDLE = 2;
constexpr uint8_t MOTOR_LEFT_BACK = 3;
constexpr uint8_t MOTOR_RIGHT_FRONT = 4;
constexpr uint8_t MOTOR_RIGHT_MIDDLE = 5;
constexpr uint8_t MOTOR_RIGHT_BACK = 6;
 
constexpr uint8_t SERVO_LEFT_FRONT = 7;
constexpr uint8_t SERVO_RIGHT_FRONT = 8;
constexpr uint8_t SERVO_LEFT_BACK = 9;
constexpr uint8_t SERVO_RIGHT_BACK = 10;
 
} // namespace lx16a
#endif