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| PmxHardSerial (HardwareSerial *hardSerial, byte enPin, long baudrate=115200, int timeout=100) |
| Construct a new Pmx Hard Serial:: Pmx Hard Serial object
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| PmxHardSerial (HardwareSerial *hardSerial, byte enPin, long baudrate, unsigned short serialConfig, int timeout) |
| Construct a new Pmx Hard Serial:: Pmx Hard Serial object
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| PmxHardSerial (HardwareSerial *hardSerial, byte rxPin, byte txPin, byte enPin, long baudrate=115200, int timeout=1000, byte partyVal=0x00) |
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| ~PmxHardSerial () |
| Destroy the Pmx Hard Serial:: Pmx Hard Serial object
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bool | begin (long baudrate=PMX::ErrorUint32Data, int timeout=PMX::ErrorUint16Data) |
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bool | isSynchronize () |
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virtual bool | synchronize (byte *txBuf, byte txLen, byte *rxBuf, byte rxLen) |
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virtual bool | synchronizeVariableRead (byte *txBuf, byte txLen, byte *rxBuf, byte *rxLen) |
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virtual bool | synchronizeNoRead (byte *txBuf, byte txLen) |
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virtual void | setLogSerial (HardwareSerial *logSerial) |
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virtual void | setLogSerial (HardwareSerial *logSerial) |
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unsigned short | MemREAD (byte id, unsigned short addr, int readDataSize, byte rxData[]) |
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unsigned short | MemREADToByte (byte id, unsigned short addr, byte *byteData) |
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unsigned short | MemREADToInt16 (byte id, unsigned short addr, short *int16Data) |
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unsigned short | MemREADToUint16 (byte id, unsigned short addr, unsigned short *uint16Data) |
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unsigned short | MemREADToInt32 (byte id, unsigned short addr, long *int32Data) |
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unsigned short | MemREADToUint32 (byte id, unsigned short addr, unsigned long *uint32Data) |
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unsigned short | MemWRITE (byte id, unsigned short addr, byte txDataArray[], int txDataSize, byte writeOpt=0) |
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unsigned short | MemWRITEToByte (byte id, unsigned short addr, byte byteData, byte writeOpt=0) |
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unsigned short | MemWRITEToInt16 (byte id, unsigned short addr, short int16Data, byte writeOpt=0) |
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unsigned short | MemWRITEToUint16 (byte id, unsigned short addr, unsigned short uint16Data, byte writeOpt=0) |
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unsigned short | MemWRITEToInt32 (byte id, unsigned short addr, long int32Data, byte writeOpt=0) |
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unsigned short | MemWRITEToUint32 (byte id, unsigned short addr, unsigned long uint32Data, byte writeOpt=0) |
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unsigned short | MotorREAD (byte id, byte receiveMode, long receiveData[8], byte controlMode=0x01, byte *torqueSw=nullptr) |
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unsigned short | MotorWRITE (byte id, byte toruqeOnSw) |
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unsigned short | MotorWRITE (byte id, byte toruqeOnSw, byte receiveMode, long receiveData[8], byte controlMode=0x01) |
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unsigned short | MotorWRITE (byte id, long writeDatas[], int writeDataCount) |
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unsigned short | MotorWRITE (byte id, long writeDatas[], int writeDataCount, byte receiveMode, long receiveData[8], byte controlMode=0x01) |
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unsigned short | MotorWRITESingle (byte id, long targetVal) |
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unsigned short | MotorWRITESingle (byte id, long targetVal, byte receiveMode, long receiveData[8], byte controlMode=0x01) |
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unsigned short | MotorWRITEDouble (byte id, long targetVal1, long targetVal2) |
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unsigned short | MotorWRITEDouble (byte id, long targetVal1, long targetVal2, byte receiveMode, long receiveData[8], byte controlMode=0x01) |
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unsigned short | MotorWRITETriple (byte id, long targetVal1, long targetVal2, long targetVal3) |
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unsigned short | MotorWRITETriple (byte id, long targetVal1, long targetVal2, long targetVal3, byte receiveMode, long receiveData[8], byte controlMode=0x01) |
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unsigned short | LOAD (byte id) |
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unsigned short | SAVE (byte id) |
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unsigned short | SystemREAD (byte id, byte rxData[]) |
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unsigned short | getSerialNumber (byte id, unsigned long *serialLongNum) |
| SystemREAD 関数は、サーボからシステム情報を読み取ります。
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unsigned short | getSerialNumber (byte id, byte serialByteNum[4]) |
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unsigned short | getModelNum (byte id, unsigned long *modelFullNum) |
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unsigned short | getModelNum (byte id, unsigned short *modelNum, unsigned short *seriesNum) |
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unsigned short | getVersion (byte id, byte verData[4]) |
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unsigned short | getResponseTime (byte id, byte *respTime) |
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unsigned short | SystemWRITE (byte id, byte serialNum[4], byte option, byte newId, byte newBaudrateVal, byte newParityVal, byte newResponseTime) |
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unsigned short | SystemWRITE (byte id, unsigned long serialNum, byte option, byte newId, byte newBaudrateVal, byte newParityVal, byte newResponseTime) |
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unsigned short | SystemWRITE (byte id, byte option, byte newId, byte newBaudrateVal, byte newParityVal, byte newResponseTime) |
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unsigned short | setId (byte id, byte newId) |
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unsigned short | setBaudrate (byte id, byte newBaudRate) |
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unsigned short | setParity (byte id, byte newParityNum) |
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unsigned short | setResponseTime (byte id, byte respTime) |
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unsigned short | ReBoot (byte id, int resetTime=0) |
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unsigned short | FactoryReset (byte id, byte serialNum[4]=NULL) |
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unsigned short | getPositionKpGain (byte id, unsigned long *data) |
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unsigned short | getPositionKiGain (byte id, unsigned long *data) |
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unsigned short | getPositionKdGain (byte id, unsigned long *data) |
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unsigned short | getPositionGain (byte id, unsigned long *kpdata, unsigned long *kidata, unsigned long *kddata) |
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unsigned short | getPositionStretchGain (byte id, unsigned long *data) |
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unsigned short | getSpeedKpGain (byte id, unsigned long *data) |
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unsigned short | getSpeedKiGain (byte id, unsigned long *data) |
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unsigned short | getSpeedKdGain (byte id, unsigned long *data) |
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unsigned short | getSpeedGain (byte id, unsigned long *kpdata, unsigned long *kidata, unsigned long *kddata) |
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unsigned short | getCurrentKpGain (byte id, unsigned long *data) |
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unsigned short | getCurrentKiGain (byte id, unsigned long *data) |
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unsigned short | getCurrentKdGain (byte id, unsigned long *data) |
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unsigned short | getCurrentGain (byte id, unsigned long *kpdata, unsigned long *kidata, unsigned long *kddata) |
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unsigned short | getTorqueKpGain (byte id, unsigned long *data) |
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unsigned short | getTorqueKiGain (byte id, unsigned long *data) |
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unsigned short | getTorqueKdGain (byte id, unsigned long *data) |
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unsigned short | getTorqueGain (byte id, unsigned long *kpdata, unsigned long *kidata, unsigned long *kddata) |
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unsigned short | getCenterOffset (byte id, short *offsetData) |
| 指定した ID の中央値オフセット値を取得します。
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unsigned short | getCloneReverse (byte id, byte *data) |
| 指定した ID のクローン/リバース値を取得します。
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unsigned short | getMinVoltageLimit (byte id, unsigned short *data) |
| 指定したIDの下限電圧リミット値を取得します。
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unsigned short | getMinVoltageLimitPower (byte id, unsigned short *data) |
| 指定したIDの下限リミット電圧を下回った場合の出力割合を取得します。
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unsigned short | getMaxVoltageLimit (byte id, unsigned short *data) |
| 指定したIDの上限リミット電圧を取得します。
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unsigned short | getMaxVoltageLimitPower (byte id, unsigned short *data) |
| 指定したIDの上限リミット電圧を超えた場合の出力割合を取得します。
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unsigned short | getCurrentLimit (byte id, unsigned short *data) |
| 指定したIDの電流リミット値を取得します。
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unsigned short | getCurrentLimitPower (byte id, unsigned short *data) |
| 指定したIDの電流リミットを超えた時の出力割合を取得します。
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unsigned short | getMotorTempLimit (byte id, unsigned short *data) |
| 指定したIDのモータ温度リミット値を取得します。
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unsigned short | getMotorTempLimitPower (byte id, unsigned short *data) |
| 指定したIDのモータ温度リミットを超えた時の出力割合を取得します。
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unsigned short | getCpuTempLimit (byte id, unsigned short *data) |
| 指定したIDのCPU温度リミット値を取得します。
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unsigned short | getCpuTempLimitPower (byte id, unsigned short *data) |
| 指定したIDのCPU温度リミットを超えた時の出力割合を取得します。
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unsigned short | getCwPositionLimit (byte id, short *data) |
| 指定したIDのCW方向の動作角度リミット値を取得します。
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unsigned short | getCwPositionLimitPower (byte id, unsigned short *data) |
| 指定したIDのCW側の角度を超えた時の出力の割合を取得します。
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unsigned short | getCcwPositionLimit (byte id, short *data) |
| 指定したIDのCCW方向の動作角度リミット値を取得します。
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unsigned short | getCcwPositionLimitPower (byte id, unsigned short *data) |
| 指定したIDのCCW側の角度を超えた時の出力の割合を取得します。
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unsigned short | getMaxGoalSpeed (byte id, short *data) |
| 指定したIDの指令可能な最大速度値を取得します。
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unsigned short | getMaxGoalCurrent (byte id, short *data) |
| 指定したIDの指令可能な最大電流値を取得します。
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unsigned short | getMaxGoalTorque (byte id, short *data) |
| 指定したIDの指令可能な最大推定トルク値を取得します。
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unsigned short | getTotalPowerRate (byte id, unsigned short *data) |
| 指定したIDのモータに出力する割合を取得します。
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unsigned short | getLockDetectTime (byte id, unsigned short *data) |
| 指定したIDのロック検知を認識するまでの時間を取得します。
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unsigned short | getLockThresholdPower (byte id, unsigned short *data) |
| 指定したIDのロック検知を開始する出力指示の閾値を取得します。
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unsigned short | getLockDetectOutputPower (byte id, unsigned short *data) |
| 指定したIDがロック検知が起きた時の出力の割合を取得します。
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unsigned short | getPosition (byte id, short *posData) |
| 指定したIDの現在指示位置を取得します。
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unsigned short | getPosition (byte id, unsigned short *posData) |
| 指定したIDの現在指示位置を取得します。
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unsigned short | getPosition (byte id, long *posData, byte controlMode=0x01) |
| 指定したIDの現在指示位置を取得します。
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unsigned short | getSpeed (byte id, short *spdData) |
| 指定した ID の現在の速度を取得します。
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unsigned short | getCurrent (byte id, short *curData) |
| 指定した ID の現在の電流を取得します。
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unsigned short | getTorque (byte id, short *trqData) |
| 指定した ID の現在のトルクを取得します。
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unsigned short | getPwm (byte id, short *pwmData) |
| 指定したIDの現在PWMを取得します。
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unsigned short | getMotorTemp (byte id, short *motTempData) |
| 指定したIDの現在のモータ温度を取得します。
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unsigned short | getCPUTemp (byte id, short *cpuTempData) |
| 指定された ID の現在のCPU温度を取得します。
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unsigned short | getInputVoltage (byte id, unsigned short *volData) |
| 指定された ID の現在の電圧を取得します。
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unsigned short | getTrajectoryTime (byte id, unsigned short *traTimeData) |
| 指定された ID の現在の補間時間を取得します。
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unsigned short | getEncoder (byte id, unsigned short *encData) |
| 指定された ID のエンコーダを取得します。
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unsigned short | getStatus (byte id, byte *stData) |
| 指定したIDのステータスを取得します。
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unsigned short | getSystemStatus (byte id, byte *sysStaData) |
| 指定された ID のシステムステータスを取得します。
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unsigned short | getMotorStatus (byte id, byte *motStaData) |
| 指定したIDのモータステータスを取得します。
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unsigned short | getRamAccessStatus (byte id, unsigned short *ramStaData) |
| 指定された ID のRAMアクセスステータスを取得します。
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unsigned short | getFullStatus (byte id, byte *sysSt, byte *motorSt, unsigned short *ramSt) |
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unsigned short | resetFullStatus (byte id) |
| 指定された ID の全てのステータス情報をリセットします。
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unsigned short | getTorqueSwitch (byte id, byte *trqSwitchData) |
| 指定した ID のトルク ON 値を取得します。
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unsigned short | getControlMode (byte id, byte *controlMode) |
| 指定した ID の制御モードを取得します。
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unsigned short | getMotorReceive (byte id, byte *receiveMode) |
| 指定した ID の応答データ指定値を取得します。
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unsigned short | getTrajectory (byte id, byte *traData) |
| 指定した ID の補間制御軌道生成タイプ指定を取得します。
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unsigned short | getCenterOffsetRange (byte id, short *minData, short *maxData) |
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unsigned short | getMinVoltageLimitRange (byte id, unsigned short *minData, unsigned short *maxData) |
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unsigned short | getMaxVoltageLimitRange (byte id, unsigned short *minData, unsigned short *maxData) |
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unsigned short | getCurrentLimitRange (byte id, unsigned short *minData, unsigned short *maxData) |
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unsigned short | getMotorTempLimitRange (byte id, short *minData, short *maxData) |
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unsigned short | getCpuTempLimitRange (byte id, short *minData, short *maxData) |
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unsigned short | getMaxGoalSpeedRange (byte id, short *minData, short *maxData) |
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unsigned short | getMaxGoalCurrentRange (byte id, short *minData, short *maxData) |
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unsigned short | getMaxGoalTorqueRange (byte id, short *minData, short *maxData) |
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unsigned short | getCwPositionLimitRange (byte id, short *minData, short *maxData) |
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unsigned short | getCcwPositionLimitRange (byte id, short *minData, short *maxData) |
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unsigned short | setPositionKpGain (byte id, unsigned long data, byte writeOpt=0) |
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unsigned short | setPositionKiGain (byte id, unsigned long data, byte writeOpt=0) |
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unsigned short | setPositionKdGain (byte id, unsigned long data, byte writeOpt=0) |
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unsigned short | setPositionGain (byte id, unsigned long kpdata, unsigned long kidata, unsigned long kddata, byte writeOpt=0) |
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unsigned short | setPositionStretchGain (byte id, unsigned long data, byte writeOpt=0) |
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unsigned short | setSpeedKpGain (byte id, unsigned long data, byte writeOpt=0) |
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unsigned short | setSpeedKiGain (byte id, unsigned long data, byte writeOpt=0) |
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unsigned short | setSpeedKdGain (byte id, unsigned long data, byte writeOpt=0) |
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unsigned short | setSpeedGain (byte id, unsigned long kpdata, unsigned long kidata, unsigned long kddata, byte writeOpt=0) |
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unsigned short | setCurrentKpGain (byte id, unsigned long data, byte writeOpt=0) |
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unsigned short | setCurrentKiGain (byte id, unsigned long data, byte writeOpt=0) |
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unsigned short | setCurrentKdGain (byte id, unsigned long data, byte writeOpt=0) |
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unsigned short | setCurrentGain (byte id, unsigned long kpdata, unsigned long kidata, unsigned long kddata, byte writeOpt=0) |
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unsigned short | setTorqueKpGain (byte id, unsigned long data, byte writeOpt=0) |
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unsigned short | setTorqueKiGain (byte id, unsigned long data, byte writeOpt=0) |
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unsigned short | setTorqueKdGain (byte id, unsigned long data, byte writeOpt=0) |
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unsigned short | setTorqueGain (byte id, unsigned long kpdata, unsigned long kidata, unsigned long kddata, byte writeOpt=0) |
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unsigned short | setCenterOffset (byte id, short offsetData) |
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unsigned short | setCloneReverse (byte id, byte data) |
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unsigned short | setMinVoltageLimit (byte id, unsigned short minVol, unsigned short limPower, byte writeOpt=0) |
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unsigned short | setMaxVoltageLimit (byte id, unsigned short maxVol, unsigned short limPower, byte writeOpt=0) |
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unsigned short | setCurrentLimit (byte id, short maxCur, unsigned short limPower, byte writeOpt=0) |
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unsigned short | setMotorTempLimit (byte id, short motorTemp, unsigned short limPower, byte writeOpt=0) |
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unsigned short | setCpuTempLimit (byte id, short cpuTemp, unsigned short limPower, byte writeOpt=0) |
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unsigned short | setPositionLimit (byte id, short cwPos, short ccwPos, unsigned short limPower, byte writeOpt=0) |
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unsigned short | setMaxGoalSpeed (byte id, short maxGoalSpd, byte writeOpt=0) |
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unsigned short | setMaxGoalCurrent (byte id, short maxGoalCur, byte writeOpt=0) |
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unsigned short | setMaxGoalTorque (byte id, short maxGoalTrq, byte writeOpt=0) |
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unsigned short | setTotalPowerRate (byte id, unsigned short rate, byte writeOpt=0) |
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unsigned short | setLockDetect (byte id, unsigned short time, unsigned short power, unsigned short outputPower, byte writeOpt=0) |
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unsigned short | setControlMode (byte id, byte controlMode, byte writeOpt=0) |
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unsigned short | setMotorReceive (byte id, byte receiveMode, byte writeOpt=0) |
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unsigned short | setTrajectory (byte id, byte trajecrotyData, byte writeOpt=0) |
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unsigned short | setMotorTorqueOn (byte id) |
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unsigned short | setMotorTorqueOn (byte id, byte receiveMode, long receiveData[8], byte controlMode=0x01) |
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unsigned short | setMotorFree (byte id) |
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unsigned short | setMotorFree (byte id, byte receiveMode, long receiveData[8], byte controlMode=0x01) |
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unsigned short | setMotorBrake (byte id) |
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unsigned short | setMotorBrake (byte id, byte receiveMode, long receiveData[8], byte controlMode=0x01) |
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unsigned short | setMotorHold (byte id) |
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unsigned short | setMotorHold (byte id, byte receiveMode, long receiveData[8], byte controlMode=0x01) |
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unsigned short | setPosition (byte id, short pos) |
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unsigned short | setPosition (byte id, short pos, byte receiveMode, long receiveData[8]) |
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