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Arduino-I2C-KM1
2.0.2
KeiganMotor Arduino Library
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Arduino-I2C-KM1
2.0.2
KeiganMotor Arduino Library
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Defines for KeiganMotor
[詳解]
Defines for KeiganMotor
| #define CMD_ACT_BRAKE 0x6E |
| #define CMD_ACT_BRAKE_LEN 5 |
| #define CMD_ACT_DO_TASKSET 0x81 |
| #define CMD_ACT_DO_TASKSET_LEN 11 |
| #define CMD_ACT_FREE 0x6C |
| #define CMD_ACT_FREE_LEN 5 |
| #define CMD_ACT_HOLD_TORQUE 0x72 |
| #define CMD_ACT_HOLD_TORQUE_LEN 9 |
| #define CMD_ACT_MOVE_BY_DIST 0x68 |
| #define CMD_ACT_MOVE_BY_DIST_AT_SPEED 0x67 |
| #define CMD_ACT_MOVE_BY_DIST_AT_SPEED_LEN 13 |
| #define CMD_ACT_MOVE_BY_DIST_LEN 9 |
| #define CMD_ACT_MOVE_TO_POS 0x66 |
| #define CMD_ACT_MOVE_TO_POS_AT_SPEED 0x65 |
| #define CMD_ACT_MOVE_TO_POS_AT_SPEED_LEN 13 |
| #define CMD_ACT_MOVE_TO_POS_LEN 9 |
| #define CMD_ACT_PREPARE_PLAYBACK_MOTION 0x86 |
| #define CMD_ACT_PREPARE_PLAYBACK_MOTION_LEN 12 |
| #define CMD_ACT_PRESET_POSITION 0x5A |
| #define CMD_ACT_PRESET_POSITION_LEN 9 |
| #define CMD_ACT_RUN_AT_VELOCITY 0x62 |
| #define CMD_ACT_RUN_AT_VELOCITY_LEN 9 |
| #define CMD_ACT_RUN_FORWARD 0x60 |
| #define CMD_ACT_RUN_FORWARD_LEN 5 |
| #define CMD_ACT_RUN_REVERSE 0x61 |
| #define CMD_ACT_RUN_REVERSE_LEN 5 |
| #define CMD_ACT_SPEED 0x58 |
| #define CMD_ACT_SPEED_LEN 9 |
| #define CMD_ACT_START_PLAYBACK_MOTION 0x87 |
| #define CMD_ACT_START_PLAYBACK_MOTION_LEN 5 |
| #define CMD_ACT_START_PLAYBACK_MOTION_WO_PREP 0x85 |
| #define CMD_ACT_START_PLAYBACK_MOTION_WO_PREP_LEN 12 |
| #define CMD_ACT_STOP 0x6D |
| #define CMD_ACT_STOP_DO_TASKSET 0x82 |
| #define CMD_ACT_STOP_DO_TASKSET_LEN 5 |
| #define CMD_ACT_STOP_LEN 5 |
| #define CMD_ACT_STOP_PLAYBACK_MOTION 0x88 |
| #define CMD_ACT_STOP_PLAYBACK_MOTION_LEN 5 |
| #define CMD_BUTTON_SETTING 0xBD |
| #define CMD_BUTTON_SETTING_LEN 6 |
| #define CMD_DRIVER_DISABLE 0x50 |
| #define CMD_DRIVER_DISABLE_LEN 5 |
| #define CMD_DRIVER_ENABLE 0x51 |
| #define CMD_DRIVER_ENABLE_LEN 5 |
| #define CMD_DT_ERASE_ALL_MOTION 0xAE |
| #define CMD_DT_ERASE_ALL_MOTION_LEN 5 |
| #define CMD_DT_ERASE_MOTION 0xAD |
| #define CMD_DT_ERASE_MOTION_LEN 7 |
| #define CMD_DT_MOTION_NAME 0xAF |
| #define CMD_DT_MOTION_NAME_LEN 20 |
| #define CMD_DT_PREPARE_TEACH_MOTION 0xAA |
| #define CMD_DT_PREPARE_TEACH_MOTION_LEN 11 |
| #define CMD_DT_READ_MOTION 0xB7 |
| #define CMD_DT_READ_MOTION_LEN 7 |
| #define CMD_DT_START_TEACH_MOTION 0xAB |
| #define CMD_DT_START_TEACH_MOTION_LEN 5 |
| #define CMD_DT_START_TEACH_MOTION_WO_PREP 0xA9 |
| #define CMD_DT_START_TEACH_MOTION_WO_PREP_LEN 11 |
| #define CMD_DT_STOP_TEACH_MOTION 0xAC |
| #define CMD_DT_STOP_TEACH_MOTION_LEN 5 |
| #define CMD_DT_WRITE_MOTION_POSITION 0xB8 |
| #define CMD_DT_WRITE_MOTION_POSITION_LEN 9 |
| #define CMD_IMU_START_MEASUREMENT 0xEA |
| #define CMD_IMU_START_MEASUREMENT_LEN 5 |
| #define CMD_IMU_STOP_MEASUREMENT 0xEB |
| #define CMD_IMU_STOP_MEASUREMENT_LEN 5 |
| #define CMD_LED_SET_LED 0xE0 |
| #define CMD_LED_SET_LED_LEN 9 |
| #define CMD_MOTOR_START_MEASUREMENT 0xE6 |
| #define CMD_MOTOR_START_MEASUREMENT_LEN 5 |
| #define CMD_MOTOR_STOP_MEASUREMENT 0xE7 |
| #define CMD_MOTOR_STOP_MEASUREMENT_LEN 5 |
| #define CMD_OTHERS_ADJUST_PHASE_DIFF 0xFB |
| #define CMD_OTHERS_ADJUST_PHASE_DIFF_LEN 14 |
| #define CMD_OTHERS_DFU 0xFD |
| #define CMD_OTHERS_DFU_LEN 5 |
| #define CMD_OTHERS_ENABLE_CHECK_SUM 0xF3 |
| #define CMD_OTHERS_ENABLE_CHECK_SUM_LEN 6 |
| #define CMD_OTHERS_REBOOT 0xF0 |
| #define CMD_OTHERS_REBOOT_LEN 5 |
| #define CMD_OTHERS_SERIAL_NUMBER 0xFA |
| #define CMD_OTHERS_SERIAL_NUMBER_LEN 6 |
| #define CMD_QUE_ERASE_TASK 0x94 |
| #define CMD_QUE_ERASE_TASK_LEN 5 |
| #define CMD_QUE_PAUSE 0x90 |
| #define CMD_QUE_PAUSE_LEN 5 |
| #define CMD_QUE_RESET 0x95 |
| #define CMD_QUE_RESET_LEN 5 |
| #define CMD_QUE_RESUME 0x91 |
| #define CMD_QUE_RESUME_LEN 5 |
| #define CMD_QUE_WAIT 0x92 |
| #define CMD_QUE_WAIT_LEN 9 |
| #define CMD_READ_DEVICE_INFO 0x47 |
| #define CMD_READ_DEVICE_INFO_LEN 5 |
| #define CMD_READ_DEVICE_NAME 0x46 |
| #define CMD_READ_DEVICE_NAME_LEN 5 |
| #define CMD_READ_ERROR 0xBE |
| #define CMD_READ_ERROR_LEN 5 |
| #define CMD_READ_IMU_MEASUREMENT 0xB5 |
| #define CMD_READ_IMU_MEASUREMENT_LEN 5 |
| #define CMD_READ_MOTION_INFO 0xB0 |
| #define CMD_READ_MOTION_INFO_LEN 7 |
| #define CMD_READ_MOTION_USAGE 0xB1 |
| #define CMD_READ_MOTION_USAGE_LEN 5 |
| #define CMD_READ_MOTOR_MEASUREMENT 0xB4 |
| #define CMD_READ_MOTOR_MEASUREMENT_LEN 5 |
| #define CMD_READ_POSITION_OFFSET 0x5B |
| #define CMD_READ_POSITION_OFFSET_LEN 5 |
| #define CMD_READ_STATUS 0x9A |
| #define CMD_READ_STATUS_LEN 5 |
| #define CMD_READ_TASKSET_INFO 0xA6 |
| #define CMD_READ_TASKSET_INFO_LEN 7 |
| #define CMD_READ_TASKSET_USAGE 0xA7 |
| #define CMD_READ_TASKSET_USAGE_LEN 5 |
| #define CMD_REG_ACC 0x07 |
| #define CMD_REG_ACC_LEN 9 |
| #define CMD_REG_CURVE_TYPE 0x05 |
| #define CMD_REG_CURVE_TYPE_LEN 6 |
| #define CMD_REG_DEC 0x08 |
| #define CMD_REG_DEC_LEN 9 |
| #define CMD_REG_I2C_SLAVE_ADDR 0xC0 |
| #define CMD_REG_I2C_SLAVE_ADDR_LEN 6 |
| #define CMD_REG_IMU_MEAS_BY_DEFAULT 0x3D |
| #define CMD_REG_IMU_MEAS_BY_DEFAULT_LEN 6 |
| #define CMD_REG_IMU_MEAS_INTVL 0x3C |
| #define CMD_REG_IMU_MEAS_INTVL_LEN 6 |
| #define CMD_REG_INTERFACE 0x2E |
| #define CMD_REG_INTERFACE_LEN 6 |
| #define CMD_REG_JERK 0x0C |
| #define CMD_REG_JERK_LEN 11 |
| #define CMD_REG_LIMIT_CURRENT 0x25 |
| #define CMD_REG_LIMIT_CURRENT 0x33 |
| #define CMD_REG_LIMIT_CURRENT_LEN 9 |
| #define CMD_REG_LIMIT_CURRENT_LEN 9 |
| #define CMD_REG_MAX_SPEED 0x02 |
| #define CMD_REG_MAX_SPEED_LEN 9 |
| #define CMD_REG_MAX_TORQUE 0x0E |
| #define CMD_REG_MAX_TORQUE_LEN 9 |
| #define CMD_REG_MIN_SPEED 0x03 |
| #define CMD_REG_MIN_SPEED_LEN 9 |
| #define CMD_REG_MOTOR_MEAS_BY_DEFAULT 0x2D |
| #define CMD_REG_MOTOR_MEAS_BY_DEFAULT_LEN 6 |
| #define CMD_REG_MOTOR_MEAS_INTVL 0x2C |
| #define CMD_REG_MOTOR_MEAS_INTVL_LEN 6 |
| #define CMD_REG_NOTIFY_POS_ARRIVAL 0x2B |
| #define CMD_REG_NOTIFY_POS_ARRIVAL_LEN 14 |
| #define CMD_REG_OWN_COLOR 0x3A |
| #define CMD_REG_OWN_COLOR_LEN 8 |
| #define CMD_REG_PLAYBACK_INTERVAL 0x17 |
| #define CMD_REG_PLAYBACK_INTERVAL_LEN 9 |
| #define CMD_REG_POS_ID_THRESHOLD 0x21 |
| #define CMD_REG_POS_ID_THRESHOLD_LEN 9 |
| #define CMD_REG_POSITION_D 0x20 |
| #define CMD_REG_POSITION_D_LEN 9 |
| #define CMD_REG_POSITION_I 0x1F |
| #define CMD_REG_POSITION_I_LEN 9 |
| #define CMD_REG_POSITION_P 0x1E |
| #define CMD_REG_POSITION_P_LEN 9 |
| #define CMD_REG_Q_CURRENT_D 0x1A |
| #define CMD_REG_Q_CURRENT_D_LEN 9 |
| #define CMD_REG_Q_CURRENT_I 0x19 |
| #define CMD_REG_Q_CURRENT_I_LEN 9 |
| #define CMD_REG_Q_CURRENT_P 0x18 |
| #define CMD_REG_Q_CURRENT_P_LEN 9 |
| #define CMD_REG_READ_REGISTER 0x40 |
| #define CMD_REG_READ_REGISTER_LEN 6 |
| #define CMD_REG_RESET_ALL_REGISTERS 0x4F |
| #define CMD_REG_RESET_ALL_REGISTERS_LEN 5 |
| #define CMD_REG_RESET_PID 0x22 |
| #define CMD_REG_RESET_PID_LEN 5 |
| #define CMD_REG_RESET_REGISTER 0x4E |
| #define CMD_REG_RESET_REGISTER_LEN 6 |
| #define CMD_REG_RESPONSE 0x30 |
| #define CMD_REG_RESPONSE_LEN 6 |
| #define CMD_REG_SAFE_RUN 0x31 |
| #define CMD_REG_SAFE_RUN_LEN 11 |
| #define CMD_REG_SAVE_ALL_REGISTERS 0x41 |
| #define CMD_REG_SAVE_ALL_REGISTERS_LEN 5 |
| #define CMD_REG_SPEED_D 0x1D |
| #define CMD_REG_SPEED_D_LEN 9 |
| #define CMD_REG_SPEED_I 0x1C |
| #define CMD_REG_SPEED_I_LEN 9 |
| #define CMD_REG_SPEED_P 0x1B |
| #define CMD_REG_SPEED_P_LEN 9 |
| #define CMD_REG_TEACH_INTERVAL 0x16 |
| #define CMD_REG_TEACH_INTERVAL_LEN 9 |
| #define CMD_T_ERASE_ALL_TASKSETS 0xA4 |
| #define CMD_T_ERASE_ALL_TASKSETS_LEN 5 |
| #define CMD_T_ERASE_TASKSET 0xA3 |
| #define CMD_T_ERASE_TASKSET_LEN 7 |
| #define CMD_T_START_RECORD_TASKSET 0xA0 |
| #define CMD_T_START_RECORD_TASKSET_LEN 7 |
| #define CMD_T_STOP_RECORD_TASKSET 0xA2 |
| #define CMD_T_STOP_RECORD_TASKSET_LEN 5 |
| #define CMD_T_TASKSET_NAME 0xA5 |
| #define CMD_T_TASKSET_NAME_LEN 20 |
| #define CMD_TASKSET_END_FLAG 0xFF |
| #define CMD_TASKSET_END_FLAG_LEN 1 |
| #define CURVE_TYPE_NONE 0 |
No curve. It's cyclic and step function.
| #define CURVE_TYPE_TRAPEZOID 1 |
Trapezoidal velocity curve.
| #define DUMMY_DATA_INDICATE_ERROR 0xFF |
| #define ERROR_CODE_CRC_INVALID 200 |
| #define ERROR_CODE_ID_NOT_MATCHED 201 |
| #define ERROR_CODE_INVALID_DATA 202 |
| #define FLASH_STATE_IMU 20 |
using IMU (shared resource with the flash)
IMU使用中（フラッシュと共通リソース）
| #define FLASH_STATE_PLAYBACK_DOING 4 |
executing playback motion
プレイバック実行中
| #define FLASH_STATE_PLAYBACK_PAUSING 5 |
pausing playback motion
プレイバック一時停止中
| #define FLASH_STATE_PLAYBACK_PREPARE 3 |
preparing for playback motion
プレイバック準備中
| #define FLASH_STATE_READY 0 |
ready, not busy
準備OK、ビジーでない、アイドル状態
| #define FLASH_STATE_TASKSET_DOING 7 |
doing taskset
タスクセット実行中
| #define FLASH_STATE_TASKSET_PAUSING 8 |
pausing taskset
タスクセット一時停止中
| #define FLASH_STATE_TASKSET_RECORDING 6 |
recording taskset
タスクセット記録中
| #define FLASH_STATE_TEACHING_DOING 2 |
teaching motion
ティーチング実行中
| #define FLASH_STATE_TEACHING_PREPARE 1 |
preparing for teaching motion
ティーチング準備中
| #define INTERFACE_BIT_BLE 0x01 |
| #define INTERFACE_BIT_BUTTON 0x80 |
| #define INTERFACE_BIT_DIGITAL_IO 0x20 |
| #define INTERFACE_BIT_I2C 0x10 |
| #define INTERFACE_BIT_LINKAGE 0x02 |
| #define INTERFACE_BIT_UART1 0x08 |
| #define INTERFACE_BIT_UART2 0x40 |
| #define LED_STATE_OFF 0 |
off 消灯
| #define LED_STATE_ON_FLASH 2 |
on flashing 点滅
| #define LED_STATE_ON_SOLID 1 |
on solid 点灯
| #define MOTOR_CONTROL_MODE_NONE 0 |
idle mode (No action)
| #define MOTOR_CONTROL_MODE_POSITION 2 |
Position Control
| #define MOTOR_CONTROL_MODE_TORQUE 3 |
Torque Control
| #define MOTOR_CONTROL_MODE_VELOCITY 1 |
Velocity Control
| #define RECV_DATA_ERROR 0xBE |
| #define RECV_DATA_ERROR_LEN 15 |
| #define RECV_DATA_IMU_MEAS 0xB5 |
| #define RECV_DATA_IMU_MEAS_LEN 18 |
| #define RECV_DATA_MOTOR_MEAS 0xB4 |
| #define RECV_DATA_MOTOR_MEAS_LEN 16 |
| #define RECV_DATA_READ 0x40 |
| #define SAFE_RUN_TIMEOUT_DISABLE 1 |
disable 動作不許可状態
| #define SAFE_RUN_TIMEOUT_FREE 0 |
free
非励磁状態
| #define SAFE_RUN_TIMEOUT_POS_FIX 3 |
fix position at the point その場で位置制御
| #define SAFE_RUN_TIMEOUT_STOP 2 |
run_at_velocity(0) 速度制御ゼロ
1.8.18