api_reference_connector
- Connector class provides methods to manage communication with DYNAMIXEL motors, including reading and writing data, creating motor instances, and handling group executions.
- It includes an PortHandler and PacketHandler for communication and creates Motor instances and GroupExecutor.
- Python
- C++
Connector Class
| Method | Return Type | Description |
|---|---|---|
| Connector(port_name: str, baud_rate: int) | - | Initializes the connector. |
| createMotor(id: int) | Motor | Creates Motor instance for the specified ID. |
| createAllMotors(start_id: int = 0, end_id: int = 252) | List[Motor] | Creates list of all Motor instances within the given ID range. |
| createGroupExecutor() | GroupExecutor | Creates GroupExecutor instance. |
| read1Byte(motor_id: int, address: int) | Int | Reads 1byte data from the address of a specific ID. |
| read2Bytes(motor_id: int, address: int) | Int | Reads 2byte data from the address of a specific ID. |
| read4Bytes(motor_id: int, address: int) | Int | Reads 4byte data from the address of a specific ID. |
| write1Byte(motor_id: int, address: int, value: int) | - | Writes 1byte data to the address of a specific ID. |
| write2Bytes(motor_id: int, address: int, value: int) | - | Writes 2byte data to the address of a specific ID. |
| write4Bytes(motor_id: int, address: int, value: int) | - | Writes 4byte data to the address of a specific ID. |
| reboot(motor_id: int) | - | Reboots the specified motor. |
| ping(motor_id: int) | Int | Pings the specified motor. |
| broadcastPing() | List[int] | Broadcast pings to all motors. |
| factoryReset(motor_id: int, option: int) | - | Performs factory reset on the specified motor. |
| closePort() | - | Closes the communication port. |
Variables
| Variable | Type | Attribute | Description |
|---|---|---|---|
| _packet_handler | PacketHandler | class | Underlying PacketHandler instance. |
| _port_handler | PortHandler | instance | Underlying PortHandler instance. |
Connector Class
| Method | Return Type | Description |
|---|---|---|
| Connector(const std::string & port_name, int baud_rate) | - | Initializes the connector. |
| createMotor(uint8_t id) | std::unique_ptr<Motor> | Creates Motor object for the specified ID. |
| createAllMotors(int start_id = 0, int end_id = 252) | std::vector<std::unique_ptr<Motor>> | Creates vector of all Motor objects within the given ID range. |
| createGroupExecutor() | std::unique_ptr<GroupExecutor> | Creates GroupExecutor object. |
| read1ByteData(uint8_t id, uint16_t address) | Result<uint8_t, DxlError> | Reads 1byte data from the address of a specific ID. |
| read2BytesData(uint8_t id, uint16_t address) | Result<uint16_t, DxlError> | Reads 2byte data from the address of a specific ID. |
| read4BytesData(uint8_t id, uint16_t address) | Result<uint32_t, DxlError> | Reads 4byte data from the address of a specific ID. |
| write1ByteData(uint8_t id, uint16_t address, uint8_t value) | Result<void, DxlError> | Writes 1byte data to the address of a specific ID. |
| write2BytesData(uint8_t id, uint16_t address, uint16_t value) | Result<void, DxlError> | Writes 2byte data to the address of a specific ID. |
| write4BytesData(uint8_t id, uint16_t address, uint32_t value) | Result<void, DxlError> | Writes 4byte data to the address of a specific ID. |
| reboot(uint8_t id) | Result<void, DxlError> | Reboots the specified motor. |
| ping(uint8_t id) | Result<void, DxlError> | Pings the specified motor. |
| broadcastPing() | Result<std::vector<uint8_t>, DxlError> | Broadcasts ping to all motors. |
| factoryReset(uint8_t id, uint8_t option) | Result<void, DxlError> | Performs factory reset on the specified motor. |
| closePort() | Result<void, DxlError> | Closes the communication port. |
| getPortHandler() const | PortHandler * | Returns the underlying PortHandler instance. |
| getPacketHandler() const | PacketHandler * | Returns the underlying PacketHandler instance. |
Variables
| Variable | Type | Attributes | Description |
|---|---|---|---|
| packet_handler_ | PacketHandler | Private | Underlying PacketHandler object. |
| port_handler_ | PortHandler | Private | Underlying PortHandler object. |