C++ API

Class Hierarchy

• • Namespace so_arm_100_controller
    • Class SOARM100Interface
      • Struct SOARM100Interface::JointCalibration
  • Class SCS
  • Class SCSCL
  • Class SCSerial
  • Class SMS_STS
  • Class SMSBL
  • Class SMSCL

File Hierarchy

• • Directory include
    • Directory SCServo_Linux
      • File INST.h
      • File SCS.h
      • File SCSCL.h
      • File SCSerial.h
      • File SCServo.h
      • File SMS_STS.h
      • File SMSBL.h
      • File SMSCL.h
    • Directory so_arm_100_hardware
      • File so_arm_100_interface.hpp

Full C++ API

Namespaces

• Namespace hardware_interface

• Namespace so_arm_100_controller

Classes and Structs

• Struct SOARM100Interface::JointCalibration

• Class SCS

• Class SCSCL

• Class SCSerial

• Class SMS_STS

• Class SMSBL

• Class SMSCL

• Class SOARM100Interface

Defines

• Define INST_PING

• Define INST_READ

• Define INST_REG_ACTION

• Define INST_REG_WRITE

• Define INST_SYNC_READ

• Define INST_SYNC_WRITE

• Define INST_WRITE

• Define SCSCL_0_5M

• Define SCSCL_115200

• Define SCSCL_128K

• Define SCSCL_1M

• Define SCSCL_250K

• Define SCSCL_38400

• Define SCSCL_57600

• Define SCSCL_76800

• Define SCSCL_BAUD_RATE

• Define SCSCL_CCW_DEAD

• Define SCSCL_CW_DEAD

• Define SCSCL_GOAL_POSITION_H

• Define SCSCL_GOAL_POSITION_L

• Define SCSCL_GOAL_SPEED_H

• Define SCSCL_GOAL_SPEED_L

• Define SCSCL_GOAL_TIME_H

• Define SCSCL_GOAL_TIME_L

• Define SCSCL_ID

• Define SCSCL_LOCK

• Define SCSCL_MAX_ANGLE_LIMIT_H

• Define SCSCL_MAX_ANGLE_LIMIT_L

• Define SCSCL_MIN_ANGLE_LIMIT_H

• Define SCSCL_MIN_ANGLE_LIMIT_L

• Define SCSCL_MOVING

• Define SCSCL_PRESENT_CURRENT_H

• Define SCSCL_PRESENT_CURRENT_L

• Define SCSCL_PRESENT_LOAD_H

• Define SCSCL_PRESENT_LOAD_L

• Define SCSCL_PRESENT_POSITION_H

• Define SCSCL_PRESENT_POSITION_L

• Define SCSCL_PRESENT_SPEED_H

• Define SCSCL_PRESENT_SPEED_L

• Define SCSCL_PRESENT_TEMPERATURE

• Define SCSCL_PRESENT_VOLTAGE

• Define SCSCL_TORQUE_ENABLE

• Define SCSCL_VERSION_H

• Define SCSCL_VERSION_L

• Define SMS_STS_0_5M

• Define SMS_STS_115200

• Define SMS_STS_128K

• Define SMS_STS_1M

• Define SMS_STS_250K

• Define SMS_STS_38400

• Define SMS_STS_57600

• Define SMS_STS_76800

• Define SMS_STS_ACC

• Define SMS_STS_BAUD_RATE

• Define SMS_STS_CCW_DEAD

• Define SMS_STS_CW_DEAD

• Define SMS_STS_GOAL_POSITION_H

• Define SMS_STS_GOAL_POSITION_L

• Define SMS_STS_GOAL_SPEED_H

• Define SMS_STS_GOAL_SPEED_L

• Define SMS_STS_GOAL_TIME_H

• Define SMS_STS_GOAL_TIME_L

• Define SMS_STS_ID

• Define SMS_STS_LOCK

• Define SMS_STS_MAX_ANGLE_LIMIT_H

• Define SMS_STS_MAX_ANGLE_LIMIT_L

• Define SMS_STS_MIN_ANGLE_LIMIT_H

• Define SMS_STS_MIN_ANGLE_LIMIT_L

• Define SMS_STS_MODE

• Define SMS_STS_MODEL_H

• Define SMS_STS_MODEL_L

• Define SMS_STS_MOVING

• Define SMS_STS_OFS_H

• Define SMS_STS_OFS_L

• Define SMS_STS_PRESENT_CURRENT_H

• Define SMS_STS_PRESENT_CURRENT_L

• Define SMS_STS_PRESENT_LOAD_H

• Define SMS_STS_PRESENT_LOAD_L

• Define SMS_STS_PRESENT_POSITION_H

• Define SMS_STS_PRESENT_POSITION_L

• Define SMS_STS_PRESENT_SPEED_H

• Define SMS_STS_PRESENT_SPEED_L

• Define SMS_STS_PRESENT_TEMPERATURE

• Define SMS_STS_PRESENT_VOLTAGE

• Define SMS_STS_TORQUE_ENABLE

• Define SMSBL_0_5M

• Define SMSBL_115200

• Define SMSBL_128K

• Define SMSBL_1M

• Define SMSBL_250K

• Define SMSBL_38400

• Define SMSBL_57600

• Define SMSBL_76800

• Define SMSBL_ACC

• Define SMSBL_BAUD_RATE

• Define SMSBL_CCW_DEAD

• Define SMSBL_CW_DEAD

• Define SMSBL_GOAL_POSITION_H

• Define SMSBL_GOAL_POSITION_L

• Define SMSBL_GOAL_SPEED_H

• Define SMSBL_GOAL_SPEED_L

• Define SMSBL_GOAL_TIME_H

• Define SMSBL_GOAL_TIME_L

• Define SMSBL_ID

• Define SMSBL_LOCK

• Define SMSBL_MAX_ANGLE_LIMIT_H

• Define SMSBL_MAX_ANGLE_LIMIT_L

• Define SMSBL_MIN_ANGLE_LIMIT_H

• Define SMSBL_MIN_ANGLE_LIMIT_L

• Define SMSBL_MODE

• Define SMSBL_MODEL_H

• Define SMSBL_MODEL_L

• Define SMSBL_MOVING

• Define SMSBL_OFS_H

• Define SMSBL_OFS_L

• Define SMSBL_PRESENT_CURRENT_H

• Define SMSBL_PRESENT_CURRENT_L

• Define SMSBL_PRESENT_LOAD_H

• Define SMSBL_PRESENT_LOAD_L

• Define SMSBL_PRESENT_POSITION_H

• Define SMSBL_PRESENT_POSITION_L

• Define SMSBL_PRESENT_SPEED_H

• Define SMSBL_PRESENT_SPEED_L

• Define SMSBL_PRESENT_TEMPERATURE

• Define SMSBL_PRESENT_VOLTAGE

• Define SMSBL_TORQUE_ENABLE

• Define SMSCL_0_5M

• Define SMSCL_115200

• Define SMSCL_128K

• Define SMSCL_1M

• Define SMSCL_250K

• Define SMSCL_38400

• Define SMSCL_57600

• Define SMSCL_76800

• Define SMSCL_ACC

• Define SMSCL_ALARM_LED

• Define SMSCL_ALARM_SHUTDOWN

• Define SMSCL_BAUD_RATE

• Define SMSCL_CCW_DEAD

• Define SMSCL_COMPLIANCE_D

• Define SMSCL_COMPLIANCE_I

• Define SMSCL_COMPLIANCE_P

• Define SMSCL_CW_DEAD

• Define SMSCL_GOAL_POSITION_H

• Define SMSCL_GOAL_POSITION_L

• Define SMSCL_GOAL_SPEED_H

• Define SMSCL_GOAL_SPEED_L

• Define SMSCL_GOAL_TIME_H

• Define SMSCL_GOAL_TIME_L

• Define SMSCL_ID

• Define SMSCL_LIMIT_TEMPERATURE

• Define SMSCL_LOCK

• Define SMSCL_MAX_ANGLE_LIMIT_H

• Define SMSCL_MAX_ANGLE_LIMIT_L

• Define SMSCL_MAX_CURRENT_H

• Define SMSCL_MAX_CURRENT_L

• Define SMSCL_MAX_LIMIT_VOLTAGE

• Define SMSCL_MAX_TORQUE_H

• Define SMSCL_MAX_TORQUE_L

• Define SMSCL_MIN_ANGLE_LIMIT_H

• Define SMSCL_MIN_ANGLE_LIMIT_L

• Define SMSCL_MIN_LIMIT_VOLTAGE

• Define SMSCL_MODE

• Define SMSCL_MOVING

• Define SMSCL_OFS_H

• Define SMSCL_OFS_L

• Define SMSCL_PRESENT_CURRENT_H

• Define SMSCL_PRESENT_CURRENT_L

• Define SMSCL_PRESENT_LOAD_H

• Define SMSCL_PRESENT_LOAD_L

• Define SMSCL_PRESENT_POSITION_H

• Define SMSCL_PRESENT_POSITION_L

• Define SMSCL_PRESENT_SPEED_H

• Define SMSCL_PRESENT_SPEED_L

• Define SMSCL_PRESENT_TEMPERATURE

• Define SMSCL_PRESENT_VOLTAGE

• Define SMSCL_PUNCH_H

• Define SMSCL_PUNCH_L

• Define SMSCL_REGISTERED_INSTRUCTION

• Define SMSCL_RETURN_DELAY_TIME

• Define SMSCL_RETURN_LEVEL

• Define SMSCL_TORQUE_ENABLE

• Define SMSCL_VERSION_H

• Define SMSCL_VERSION_L

Typedefs

• Typedef s16

• Typedef s32

• Typedef s8

• Typedef so_arm_100_controller::CallbackReturn

• Typedef u16

• Typedef u32

• Typedef u8

Directories

• Directory include

• Directory SCServo_Linux

• Directory so_arm_100_hardware

Files

• File INST.h

• File SCS.h

• File SCSCL.h

• File SCSerial.h

• File SCServo.h

• File SMS_STS.h

• File SMSBL.h

• File SMSCL.h

• File so_arm_100_interface.hpp