PHシリーズと共通でsync_read,writeするため、29番以降のインダイレクトアドレスを使用する (#20)

Author: Shota Aoki

rt_manipulators_lib/src/dynamixel_xm.cpp

@@ -39,15 +39,16 @@ const uint16_t ADDR_PRESENT_VELOCITY = 128;
 const uint16_t ADDR_PRESENT_POSITION = 132;
 const uint16_t ADDR_PRESENT_VOLTAGE = 144;
 const uint16_t ADDR_PRESENT_TEMPERATURE = 146;
-const uint16_t ADDR_INDIRECT_ADDRESS_1 = 168;
-const uint16_t ADDR_INDIRECT_DATA_1 = 224;
 const uint16_t ADDR_INDIRECT_ADDRESS_29 = 578;
 const uint16_t ADDR_INDIRECT_DATA_29 = 634;
-
-const uint16_t ADDR_START_INDIRECT_ADDR_READ = ADDR_INDIRECT_ADDRESS_1;
-const uint16_t ADDR_START_INDIRECT_DATA_READ = ADDR_INDIRECT_DATA_1;
-const uint16_t ADDR_START_INDIRECT_ADDR_WRITE = ADDR_INDIRECT_ADDRESS_29;
-const uint16_t ADDR_START_INDIRECT_DATA_WRITE = ADDR_INDIRECT_DATA_29;
+const uint16_t ADDR_INDIRECT_ADDRESS_44 = 608;
+const uint16_t ADDR_INDIRECT_DATA_44 = 649;
+
+// PHシリーズと同じアドレスで通信するため29番以降のインダイレクトアドレスを使用する
+const uint16_t ADDR_START_INDIRECT_ADDR_READ = ADDR_INDIRECT_ADDRESS_29;
+const uint16_t ADDR_START_INDIRECT_DATA_READ = ADDR_INDIRECT_DATA_29;
+const uint16_t ADDR_START_INDIRECT_ADDR_WRITE = ADDR_INDIRECT_ADDRESS_44;
+const uint16_t ADDR_START_INDIRECT_DATA_WRITE = ADDR_INDIRECT_DATA_44;
 
 const uint16_t LEN_PRESENT_CURRENT = 2;
 const uint16_t LEN_PRESENT_VELOCITY = 4;

rt_manipulators_lib/test/test_dynamixel_xm.cpp

@@ -164,59 +164,59 @@ TEST_F(XMTestFixture, from_current_ampere) {
 }
 
 TEST_F(XMTestFixture, set_indirect_addresses_read) {
-  EXPECT_EQ(dxl->start_address_for_indirect_read(), 224);
+  EXPECT_EQ(dxl->start_address_for_indirect_read(), 634);
   EXPECT_EQ(dxl->length_of_indirect_data_read(), 0);
-  EXPECT_EQ(dxl->next_indirect_addr_read(), 168);
+  EXPECT_EQ(dxl->next_indirect_addr_read(), 578);
 
   EXPECT_FALSE(dxl->auto_set_indirect_address_of_present_position(comm));
   // indirect_dataの開始位置は変わらないことを期待
-  EXPECT_EQ(dxl->start_address_for_indirect_read(), 224);
+  EXPECT_EQ(dxl->start_address_for_indirect_read(), 634);
   EXPECT_EQ(dxl->length_of_indirect_data_read(), 4);
-  EXPECT_EQ(dxl->next_indirect_addr_read(), 176);
-  EXPECT_EQ(dxl->indirect_addr_of_present_position(), 224);
+  EXPECT_EQ(dxl->next_indirect_addr_read(), 586);
+  EXPECT_EQ(dxl->indirect_addr_of_present_position(), 634);
 
   EXPECT_FALSE(dxl->auto_set_indirect_address_of_present_velocity(comm));
   EXPECT_EQ(dxl->length_of_indirect_data_read(), 8);
-  EXPECT_EQ(dxl->next_indirect_addr_read(), 184);
-  EXPECT_EQ(dxl->indirect_addr_of_present_velocity(), 228);
+  EXPECT_EQ(dxl->next_indirect_addr_read(), 594);
+  EXPECT_EQ(dxl->indirect_addr_of_present_velocity(), 638);
 
   EXPECT_FALSE(dxl->auto_set_indirect_address_of_present_current(comm));
   EXPECT_EQ(dxl->length_of_indirect_data_read(), 10);
-  EXPECT_EQ(dxl->next_indirect_addr_read(), 188);
-  EXPECT_EQ(dxl->indirect_addr_of_present_current(), 232);
+  EXPECT_EQ(dxl->next_indirect_addr_read(), 598);
+  EXPECT_EQ(dxl->indirect_addr_of_present_current(), 642);
 
   EXPECT_FALSE(dxl->auto_set_indirect_address_of_present_input_voltage(comm));
   EXPECT_EQ(dxl->length_of_indirect_data_read(), 12);
-  EXPECT_EQ(dxl->next_indirect_addr_read(), 192);
-  EXPECT_EQ(dxl->indirect_addr_of_present_input_voltage(), 234);
+  EXPECT_EQ(dxl->next_indirect_addr_read(), 602);
+  EXPECT_EQ(dxl->indirect_addr_of_present_input_voltage(), 644);
 
   EXPECT_FALSE(dxl->auto_set_indirect_address_of_present_temperature(comm));
   EXPECT_EQ(dxl->length_of_indirect_data_read(), 13);
-  EXPECT_EQ(dxl->next_indirect_addr_read(), 194);
-  EXPECT_EQ(dxl->indirect_addr_of_present_temperature(), 236);
+  EXPECT_EQ(dxl->next_indirect_addr_read(), 604);
+  EXPECT_EQ(dxl->indirect_addr_of_present_temperature(), 646);
 }
 
 TEST_F(XMTestFixture, set_indirect_addresses_write) {
-  EXPECT_EQ(dxl->start_address_for_indirect_write(), 634);
+  EXPECT_EQ(dxl->start_address_for_indirect_write(), 649);
   EXPECT_EQ(dxl->length_of_indirect_data_write(), 0);
-  EXPECT_EQ(dxl->next_indirect_addr_write(), 578);
+  EXPECT_EQ(dxl->next_indirect_addr_write(), 608);
 
   EXPECT_FALSE(dxl->auto_set_indirect_address_of_goal_position(comm));
   // indirect_dataの開始位置は変わらないことを期待
-  EXPECT_EQ(dxl->start_address_for_indirect_write(), 634);
+  EXPECT_EQ(dxl->start_address_for_indirect_write(), 649);
   EXPECT_EQ(dxl->length_of_indirect_data_write(), 4);
-  EXPECT_EQ(dxl->next_indirect_addr_write(), 586);
-  EXPECT_EQ(dxl->indirect_addr_of_goal_position(), 634);
+  EXPECT_EQ(dxl->next_indirect_addr_write(), 616);
+  EXPECT_EQ(dxl->indirect_addr_of_goal_position(), 649);
 
   EXPECT_FALSE(dxl->auto_set_indirect_address_of_goal_velocity(comm));
   EXPECT_EQ(dxl->length_of_indirect_data_write(), 8);
-  EXPECT_EQ(dxl->next_indirect_addr_write(), 594);
-  EXPECT_EQ(dxl->indirect_addr_of_goal_velocity(), 638);
+  EXPECT_EQ(dxl->next_indirect_addr_write(), 624);
+  EXPECT_EQ(dxl->indirect_addr_of_goal_velocity(), 653);
 
   EXPECT_FALSE(dxl->auto_set_indirect_address_of_goal_current(comm));
   EXPECT_EQ(dxl->length_of_indirect_data_write(), 10);
-  EXPECT_EQ(dxl->next_indirect_addr_write(), 598);
-  EXPECT_EQ(dxl->indirect_addr_of_goal_current(), 642);
+  EXPECT_EQ(dxl->next_indirect_addr_write(), 628);
+  EXPECT_EQ(dxl->indirect_addr_of_goal_current(), 657);
 }
 
 TEST_F(XMTestFixture, extract_present_position_from_sync_read) {