Feetech protocol definitions. More...

Detailed Description

Feetech protocol definitions.

Author: Loïc Dauphin loic..nosp@m.daup.nosp@m.hin@i.nosp@m.nria.nosp@m..fr

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#define	FEETECH_START (0xFF)

enum	scs15_baudrate_t { SCS15_B_1M = 0 , SCS15_B_0_5M = 1 , SCS15_B_250K = 2 , SCS15_B_128K = 3 , SCS15_B_115200 = 4 , SCS15_B_76800 = 5 , SCS15_B_57600 = 6 , SCS15_B_38400 = 7 }

enum	scs15_register8_t { SCS15_ID = 5 , SCS15_BAUD_RATE = 6 , SCS15_RETURN_DELAY_TIME = 7 , SCS15_RETURN_LEVEL = 8 , SCS15_LIMIT_TEMPERATURE = 13 , SCS15_MAX_LIMIT_VOLTAGE = 14 , SCS15_MIN_LIMIT_VOLTAGE = 15 , SCS15_ALARM_LED = 18 , SCS15_ALARM_SHUTDOWN = 19 , SCS15_COMPLIANCE_P = 21 , SCS15_COMPLIANCE_D = 22 , SCS15_COMPLIANCE_I = 23 , SCS15_CW_DEAD = 26 , SCS15_CCW_DEAD = 27 , SCS15_TORQUE_ENABLE = 40 , SCS15_LED = 41 , SCS15_LOCK = 48 , SCS15_PRESENT_VOLTAGE = 62 , SCS15_PRESENT_TEMPERATURE = 63 , SCS15_REGISTERED_INSTRUCTION = 64 , SCS15_ERROR = 65 , SCS15_MOVING = 66 }

enum	scs15_register16_t { SCS15_MODEL_NUMBER = 0 , SCS15_VERSION = 3 , SCS15_MIN_ANGLE_LIMIT = 9 , SCS15_MAX_ANGLE_LIMIT = 11 , SCS15_MAX_TORQUE = 16 , SCS15_PUNCH = 24 , SCS15_IMAX = 28 , SCS15_OFFSET = 30 , SCS15_GOAL_POSITION = 42 , SCS15_GOAL_TIME = 44 , SCS15_GOAL_SPEED = 46 , SCS15_PRESENT_POSITION = 56 , SCS15_PRESENT_SPEED = 58 , SCS15_PRESENT_LOAD = 60 , SCS15_VIR_POSITION = 67 , SCS15_CURRENT = 69 }

enum	feetech_intruction_t { INST_PING = 0x01 , INST_READ = 0x02 , INST_WRITE = 0x03 , INST_REG_WRITE = 0x04 , INST_ACTION = 0x05 , INST_RESET = 0x06 , INST_SYNC_WRITE = 0x83 }