PMX 1.0.0
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PmxBaseClass.h ファイル

PMX library header file [詳解]

#include "Arduino.h"

[ソースコード]

クラス

class  PmxBace
 

名前空間

namespace  PMX
 PMXの固有値の定義
 
namespace  PMX::RamAddrList
 RAMのアドレス一覧
 
namespace  PMX::ControlMode
 コントロールモード一覧
 
namespace  PMX::EditBaudrate
 通信速度の定義
 
namespace  PMX::ReceiveDataOption
 MotorREAD等で使用する応答モードのリスト
 
namespace  PMX::ComError
 データが返ってこないなどサーボモータ外に起因するエラー一覧の定義
 

変数

static constexpr byte PMX::ErrorByteData = 0xFF
 byte型のエラー値の定義
 
static constexpr unsigned short PMX::ErrorUint16Data = 0x7FFF
 byte型のエラー値の定義
 
static constexpr unsigned long PMX::ErrorUint32Data = 0x7FFFFFFF
 byte型のエラー値の定義
 
constexpr unsigned short PMX::RamAddrList::PositionKp = 0
 位置制御のPゲイン
 
constexpr unsigned short PMX::RamAddrList::PositionKi = 4
 位置制御のIゲイン
 
constexpr unsigned short PMX::RamAddrList::PositionKd = 8
 位置制御のDゲイン
 
constexpr unsigned short PMX::RamAddrList::PositionSt = 12
 位置制御のストレッチ
 
constexpr unsigned short PMX::RamAddrList::SpeedKp = 16
 速度制御のPゲイン
 
constexpr unsigned short PMX::RamAddrList::SpeedKi = 20
 
constexpr unsigned short PMX::RamAddrList::SpeedKd = 24
 
constexpr unsigned short PMX::RamAddrList::CurrentKp = 32
 
constexpr unsigned short PMX::RamAddrList::CurrentKi = 36
 
constexpr unsigned short PMX::RamAddrList::CurrentKd = 40
 
constexpr unsigned short PMX::RamAddrList::TorqueKp = 48
 
constexpr unsigned short PMX::RamAddrList::TorqueKi = 52
 
constexpr unsigned short PMX::RamAddrList::TorqueKd = 56
 
constexpr unsigned short PMX::RamAddrList::PositionDeadBand = 64
 
constexpr unsigned short PMX::RamAddrList::SpeedDeadBand = 66
 
constexpr unsigned short PMX::RamAddrList::CurrentDeadBand = 68
 
constexpr unsigned short PMX::RamAddrList::TorqueDeadBand = 70
 
constexpr unsigned short PMX::RamAddrList::CenterOffset = 72
 
constexpr unsigned short PMX::RamAddrList::CloneReverse = 74
 
constexpr unsigned short PMX::RamAddrList::MinVoltageLimit = 76
 
constexpr unsigned short PMX::RamAddrList::MinVoltageLimitPower = 78
 
constexpr unsigned short PMX::RamAddrList::MaxVoltageLimit = 80
 
constexpr unsigned short PMX::RamAddrList::MaxVoltageLimitPower = 82
 
constexpr unsigned short PMX::RamAddrList::CurrentLimit = 84
 
constexpr unsigned short PMX::RamAddrList::CurrentLimitPower = 86
 
constexpr unsigned short PMX::RamAddrList::MotorTempLimit = 88
 
constexpr unsigned short PMX::RamAddrList::MotorTempLimitPower = 90
 
constexpr unsigned short PMX::RamAddrList::CpuTempLimit = 92
 
constexpr unsigned short PMX::RamAddrList::CpuTempLimitPower = 94
 
constexpr unsigned short PMX::RamAddrList::CwPositionLimit = 96
 
constexpr unsigned short PMX::RamAddrList::CwPositionLimitPower = 98
 
constexpr unsigned short PMX::RamAddrList::CcwPositionLimit = 100
 
constexpr unsigned short PMX::RamAddrList::CcwPositionLimitPower = 102
 
constexpr unsigned short PMX::RamAddrList::MaxGoalSpeed = 104
 
constexpr unsigned short PMX::RamAddrList::MaxGoalCurrent = 106
 
constexpr unsigned short PMX::RamAddrList::MaxGoalTorque = 108
 
constexpr unsigned short PMX::RamAddrList::TotalPowerRate = 110
 
constexpr unsigned short PMX::RamAddrList::LockDetectTime = 112
 
constexpr unsigned short PMX::RamAddrList::LockThresholdPower = 114
 
constexpr unsigned short PMX::RamAddrList::LockDetectOutputPower = 116
 
constexpr unsigned short PMX::RamAddrList::NowPosition = 300
 
constexpr unsigned short PMX::RamAddrList::NowSpeed = 302
 
constexpr unsigned short PMX::RamAddrList::NowCurrent = 304
 
constexpr unsigned short PMX::RamAddrList::NowTorque = 306
 
constexpr unsigned short PMX::RamAddrList::NowPwm = 308
 
constexpr unsigned short PMX::RamAddrList::MotorTemp = 310
 
constexpr unsigned short PMX::RamAddrList::CPUTemp = 312
 
constexpr unsigned short PMX::RamAddrList::InputVoltage = 314
 
constexpr unsigned short PMX::RamAddrList::TrajectoryTime = 316
 
constexpr unsigned short PMX::RamAddrList::EncoderValue = 318
 
constexpr unsigned short PMX::RamAddrList::EncoderTotalCount = 320
 
constexpr unsigned short PMX::RamAddrList::ErrorStatus = 400
 
constexpr unsigned short PMX::RamAddrList::ErrorSystem = 401
 
constexpr unsigned short PMX::RamAddrList::ErrorMotor = 402
 
constexpr unsigned short PMX::RamAddrList::ErrorRamAccess = 404
 
constexpr unsigned short PMX::RamAddrList::TorqueSwitch = 500
 
constexpr unsigned short PMX::RamAddrList::ControlMode = 501
 
constexpr unsigned short PMX::RamAddrList::MotorReceiveData = 502
 
constexpr unsigned short PMX::RamAddrList::Trajectory = 503
 
constexpr unsigned short PMX::RamAddrList::GoalPosition = 506
 
constexpr unsigned short PMX::RamAddrList::GoalSpeed = 508
 
constexpr unsigned short PMX::RamAddrList::GoalCurrent = 510
 
constexpr unsigned short PMX::RamAddrList::GoalTorque = 512
 
constexpr unsigned short PMX::RamAddrList::GoalPwm = 514
 
constexpr unsigned short PMX::RamAddrList::GoalTime = 516
 
constexpr unsigned short PMX::RamAddrList::CenterOffsetMinRange = 600
 
constexpr unsigned short PMX::RamAddrList::CenterOffsetMaxRange = 602
 
constexpr unsigned short PMX::RamAddrList::MinVoltageMinRange = 604
 
constexpr unsigned short PMX::RamAddrList::MinVoltageMaxRange = 606
 
constexpr unsigned short PMX::RamAddrList::MaxVoltageMinRange = 608
 
constexpr unsigned short PMX::RamAddrList::MaxVoltageMaxRange = 610
 
constexpr unsigned short PMX::RamAddrList::FailSafeVoltageMinRange = 612
 
constexpr unsigned short PMX::RamAddrList::FailSafeVoltageMaxRange = 614
 
constexpr unsigned short PMX::RamAddrList::CurrentMinRange = 616
 
constexpr unsigned short PMX::RamAddrList::CurrentMaxRange = 618
 
constexpr unsigned short PMX::RamAddrList::MotorTempMinRange = 620
 
constexpr unsigned short PMX::RamAddrList::MotorTempMaxRange = 622
 
constexpr unsigned short PMX::RamAddrList::CpuTempMinRange = 624
 
constexpr unsigned short PMX::RamAddrList::CpuTempMaxRange = 626
 
constexpr unsigned short PMX::RamAddrList::CwPositionMinRange = 628
 
constexpr unsigned short PMX::RamAddrList::CwPositionMaxRange = 630
 
constexpr unsigned short PMX::RamAddrList::CcwPositionMinRange = 632
 
constexpr unsigned short PMX::RamAddrList::CcwPositionMaxRange = 634
 
constexpr unsigned short PMX::RamAddrList::MaxGoalSpeedMinRange = 636
 
constexpr unsigned short PMX::RamAddrList::MaxGoalSpeedMaxRange = 638
 
constexpr unsigned short PMX::RamAddrList::MaxGoalCurrentMinRange = 640
 
constexpr unsigned short PMX::RamAddrList::MaxGoalCurrentMaxRange = 642
 
constexpr unsigned short PMX::RamAddrList::MaxGoalTorqueMinRange = 644
 
constexpr unsigned short PMX::RamAddrList::MaxGoalTorqueMaxRange = 646
 
constexpr byte PMX::ControlMode::Position = 0x01
 
constexpr byte PMX::ControlMode::Speed = 0x02
 
constexpr byte PMX::ControlMode::Current = 0x04
 
constexpr byte PMX::ControlMode::PositionCurrent = 0x05
 
constexpr byte PMX::ControlMode::Torque = 0x08
 
constexpr byte PMX::ControlMode::PositionTorque = 0x09
 
constexpr byte PMX::ControlMode::PWM = 0x10
 
constexpr byte PMX::ControlMode::Time = 0x20
 
constexpr byte PMX::ControlMode::PositionTime = 0x21
 
constexpr byte PMX::ControlMode::PositionCurrentTime = 0x25
 
constexpr byte PMX::ControlMode::PositionTorqueTime = 0x29
 
constexpr byte PMX::TrajectoryType::Even = 0x01
 
constexpr byte PMX::TrajectoryType::FifthPoly = 0x05
 
constexpr byte PMX::TrajectoryType::Error = 0xFF
 
constexpr byte PMX::EditBaudrate::_57600 = 0x00
 
constexpr byte PMX::EditBaudrate::_115200 = 0x01
 
constexpr byte PMX::EditBaudrate::_625000 = 0x02
 
constexpr byte PMX::EditBaudrate::_1000000 = 0x03
 
constexpr byte PMX::EditBaudrate::_1250000 = 0x04
 
constexpr byte PMX::EditBaudrate::_1500000 = 0x05
 
constexpr byte PMX::EditBaudrate::_2000000 = 0x06
 
constexpr byte PMX::EditBaudrate::_3000000 = 0x07
 
constexpr byte PMX::EditParity::ParityNone = 0x00
 
constexpr byte PMX::EditParity::Odd = 0x01
 
constexpr byte PMX::EditParity::Even = 0x02
 
constexpr byte PMX::EditParity::Error = 0xFF
 
constexpr byte PMX::SendCmd::MemREAD = 0xa0
 
constexpr byte PMX::SendCmd::MemWRITE = 0xa1
 
constexpr byte PMX::SendCmd::LOAD = 0xa2
 
constexpr byte PMX::SendCmd::SAVE = 0xa3
 
constexpr byte PMX::SendCmd::MotorREAD = 0xa4
 
constexpr byte PMX::SendCmd::MotorWRITE = 0xa5
 
constexpr byte PMX::SendCmd::SystemREAD = 0xbb
 
constexpr byte PMX::SendCmd::SystemWRITE = 0xbc
 
constexpr byte PMX::SendCmd::ReBoot = 0xbd
 
constexpr byte PMX::SendCmd::FactoryReset = 0xbe
 
constexpr byte PMX::SendCmd::SystemINIT = 0xbf
 
constexpr int PMX::BuffPter::Header = 0
 
constexpr int PMX::BuffPter::Header1 = 1
 
constexpr int PMX::BuffPter::ID = 2
 
constexpr int PMX::BuffPter::Length = 3
 
constexpr int PMX::BuffPter::CMD = 4
 
constexpr int PMX::BuffPter::Option = 5
 
constexpr int PMX::BuffPter::Status = 5
 
constexpr int PMX::BuffPter::Data = 6
 
constexpr int PMX::BuffPter::ACK = 6
 
constexpr byte PMX::ReceiveDataOption::NoReturn = 0x00
 
constexpr byte PMX::ReceiveDataOption::Position = 0x01
 
constexpr byte PMX::ReceiveDataOption::Speed = 0x02
 
constexpr byte PMX::ReceiveDataOption::Current = 0x04
 
constexpr byte PMX::ReceiveDataOption::Torque = 0x08
 
constexpr byte PMX::ReceiveDataOption::Pwm = 0x10
 
constexpr byte PMX::ReceiveDataOption::MotorTemp = 0x20
 
constexpr byte PMX::ReceiveDataOption::CpuTemp = 0x40
 
constexpr byte PMX::ReceiveDataOption::Voltage = 0x80
 
constexpr byte PMX::ReceiveDataOption::Full = 0xFF
 
constexpr unsigned short PMX::ComError::OK = 0
 
constexpr unsigned short PMX::ComError::TimeOut = 0xFF00
 
constexpr unsigned short PMX::ComError::CrcError = 0xFE00
 
constexpr unsigned short PMX::ComError::FormatError = 0xFD00
 
constexpr unsigned short PMX::ComError::SendError = 0xFC00
 
constexpr unsigned short PMX::ComError::ReceiveError = 0xFB00
 
constexpr unsigned short PMX::ComError::MotorREADConvertError = 0xFA00
 
constexpr unsigned short PMX::ComError::NG = 0xFA00
 
constexpr unsigned short PMX::ComError::ErrorMask = 0xFF00
 
constexpr byte PMX::MinimumLength::Send = 8
 
constexpr byte PMX::MinimumLength::Receive = 8
 
constexpr byte PMX::PmxStatusErrorList::SystemError = 0x01
 
constexpr byte PMX::PmxStatusErrorList::MotorError = 0x02
 
constexpr byte PMX::PmxStatusErrorList::CommunicationError = 0x04
 
constexpr byte PMX::PmxStatusErrorList::CommandError = 0x08
 
constexpr byte PMX::PmxStatusErrorList::RamAccessError = 0x10
 
constexpr byte PMX::PmxStatusErrorList::ModeError = 0x20
 
constexpr byte PMX::PmxStatusErrorList::DataError = 0x40
 
constexpr byte PMX::TorqueSwitchType::Control = 0x00
 
constexpr byte PMX::TorqueSwitchType::TorqueOn = 0x01
 
constexpr byte PMX::TorqueSwitchType::Free = 0x02
 
constexpr byte PMX::TorqueSwitchType::Brake = 0x04
 
constexpr byte PMX::TorqueSwitchType::Hold = 0x08
 
constexpr byte PMX::TorqueSwitchType::Mask = 0x0F
 
constexpr byte PMX::TorqueSwitchType::Error = 0xFF
 
constexpr byte PMX::CloneReverseType::Clone = 0x01
 
constexpr byte PMX::CloneReverseType::Reverse = 0x02
 

詳解

PMX library header file

著者
Kondo Kagaku Co.,Ltd.
T.Nobuhara Gotanda
日付
2023/12/13
バージョン
1.0.0