TTL Driver¶
This package handles motors which communicate via the protocol TTL.
This package is based on the DXL SDK. It provides an interface to dynamixel_sdk.
TTL Driver Node (For only the development and debugging propose)¶
- The ROS Node is made to:
- Initialize TTL Interface.
- Get configuration of motors and add to TTL Interface.
TTL Interface Core¶
It is instantiated in Niryo Robot Hardware Interface package.
- It has been conceived to:
- Initialize the TTL Interface (Interface used by other packages) and physical bus with the configurations.
- Add, remove and monitor devices.
- Start getting data and sending data on the physical bus.
- Start ROS stuffs like services, topics.
It belongs to the ROS namespace: /niryo_robot/ttl_driver/.
Parameters - TTL Driver¶
Note
These configuration parameters are chosen and tested many times to work correctly. Please make sure that you understand what you do before editing these files.
| Name | Description |
|---|---|
ttl_hardware_control_loop_frequency |
Frequency of the bus control loop.
Default: ‘240.0’
|
ttl_hardware_write_frequency |
Writes frequency on the bus.
Default: ‘120.0’
|
ttl_hardware_read_data_frequency |
Reads frequency on the bus.
Default: ‘120.0’
|
ttl_hardware_read_status_frequency |
Reads frequency for device status on the bus.
Default: ‘0.7’
|
ttl_hardware_read_end_effector_frequency |
Read frequency for End Effector’s status.
Default: ‘13.0’
|
bus_params/Baudrate |
Baudrates of TTL bus
Default: ‘1000000’
|
bus_params/uart_device_name |
Name of UART port using
Default: ‘/dev/ttyAMA0’
|
Dependencies - TTL Driver¶
Services - TTL Driver¶
| Name | Message Type | Description |
|---|---|---|
niryo_robot/ttl_driver/set_dxl_leds |
SetInt | Controls dynamixel LED |
niryo_robot/ttl_driver/send_custom_value |
SendCustomValue | Writes data at a custom register address of a given TTL device |
niryo_robot/ttl_driver/read_custom_value |
ReadCustomValue | Reads data at a custom register address of a given TTL device |
niryo_robot/ttl_driver/read_pid_value |
ReadPIDValue | Reads the PID of dxl motors |
niryo_robot/ttl_driver/write_pid_value |
WritePIDValue | Writes the PID for dxl motors |
niryo_robot/ttl_driver/read_velocity_profile |
ReadVelocityProfile | Reads velocity Profile for steppers |
niryo_robot/ttl_driver/write_velocity_profile |
WriteVelocityProfile | Writes velocity Profile for steppers |
Services & Messages files - TTL Driver¶
SendCustomValue (Service)¶
# Check XL-320 and XL-430 reference doc for
# the complete register table
uint8 id
int32 value
int32 reg_address
int32 byte_number
---
int32 status
string message
ReadCustomValue (Service)¶
# Check XL-320 and XL-430 reference doc for
# the complete register table
uint8 id
int32 reg_address
int32 byte_number
---
int32 value
int32 status
string message
ReadPIDValue (Service)¶
# Check XL-XXX motors reference doc for
# the complete register table
uint8 id
---
uint16 pos_p_gain
uint16 pos_i_gain
uint16 pos_d_gain
uint16 vel_p_gain
uint16 vel_i_gain
uint16 ff1_gain
uint16 ff2_gain
int32 status
string message
WritePIDValue (Service)¶
# Check XL-XXX motors reference doc for
# the complete register table
uint8 id
---
uint16 pos_p_gain
uint16 pos_i_gain
uint16 pos_d_gain
uint16 vel_p_gain
uint16 vel_i_gain
uint16 ff1_gain
uint16 ff2_gain
int32 status
string message
ReadVelocityProfile (Service)¶
# Check stepper ttl reference doc for
# the complete register table
uint8 id
---
float64 v_start
float64 a_1
float64 v_1
float64 a_max
float64 v_max
float64 d_max
float64 d_1
float64 v_stop
int32 status
string message
WriteVelocityProfile (Service)¶
# Check stepper ttl reference doc for
# the complete register table
uint8 id
float64 v_start
float64 a_1
float64 v_1
float64 a_max
float64 v_max
float64 d_max
float64 d_1
float64 v_stop
---
int32 status
string message
MotorHardwareStatus (Message)¶
niryo_robot_msgs/MotorHeader motor_identity
string firmware_version
uint32 temperature
float64 voltage
uint32 error
string error_msg
MotorCommand (Message)¶
uint8 cmd_type
uint8 CMD_TYPE_POSITION=1
uint8 CMD_TYPE_VELOCITY=2
uint8 CMD_TYPE_EFFORT=3
uint8 CMD_TYPE_TORQUE=4
uint8[] motors_id
uint32[] params
ArrayMotorHardwareStatus (Message)¶
std_msgs/Header header
ttl_driver/MotorHardwareStatus[] motors_hw_status