org.robokind.impl.motion.dynamixel
Class DynamixelCommandSender

java.lang.Object
  org.robokind.impl.motion.dynamixel.DynamixelCommandSender

public class DynamixelCommandSender
extends Object

Author:

Matthew Stevenson

Constructor Summary

DynamixelCommandSender()

Method Summary

static DynamixelControlLoop.DynamixelCommand	buildCommand(DynamixelServo.Id id, Instruction ins, byte[] params, int readCount, byte readBytes)
static boolean	ping(DynamixelControlLoop controlLoop, DynamixelServo.Id id, long timeout)
static int[]	readRegisters(DynamixelControlLoop controlLoop, DynamixelServo.Id id, Register first, Register last, long timeout)
static boolean	writeRegister(DynamixelControlLoop controlLoop, DynamixelServo.Id id, Register reg, Integer value, long timeout)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

DynamixelCommandSender

public DynamixelCommandSender()

Method Detail

ping

public static boolean ping(DynamixelControlLoop controlLoop,
                           DynamixelServo.Id id,
                           long timeout)

readRegisters

public static int[] readRegisters(DynamixelControlLoop controlLoop,
                                  DynamixelServo.Id id,
                                  Register first,
                                  Register last,
                                  long timeout)

writeRegister

public static boolean writeRegister(DynamixelControlLoop controlLoop,
                                    DynamixelServo.Id id,
                                    Register reg,
                                    Integer value,
                                    long timeout)

buildCommand

public static DynamixelControlLoop.DynamixelCommand buildCommand(DynamixelServo.Id id,
                                                                 Instruction ins,
                                                                 byte[] params,
                                                                 int readCount,
                                                                 byte readBytes)