Add HumanoidSDK.hpp File #3

humanoid_sdk/include/HumanoidSDK.hpp

@@ -0,0 +1,39 @@
+#ifndef HHUMANOID_SDK_HUMANOIDSDK_HPP_
+#define HUMANOID_SDK_HUMANOIDSDK_HPP_
+
+#include "dynamixel_sdk/dynamixel_sdk.h"
+
+// Control table address for AX-12A
+#define ADDR_TORQUE_ENABLE 24
+#define ADDR_GOAL_POSITION 30
+#define ADDR_PRESENT_POSITION 36
+
+// Protocol version
+#define PROTOCOL_VERSION 1.0  // Default Protocol version of DYNAMIXEL AX-12A
+
+// Default setting
+#define BAUDRATE 1000000  // Default Baudrate of DYNAMIXEL AX-12A
+#define DEVICE_NAME "/dev/ttyUSB0"  // [Linux]: "/dev/ttyUSB*", [Windows]: "COM*"
+
+class HumanoidSDK
+{
+    public:
+        HumanoidSDK();
+        ~HumanoidSDK();
+
+        /* Humanoid Setup API */
+        void setupDynamixel(uint8_t dxl_id);
+
+        /* Humanoid Control API */
+        void setGoalPosition(uint8_t dxl_id, uint32_t goal_position);
+
+    private:
+        dynamixel::PortHandler * portHandler;
+        dynamixel::PacketHandler * packetHandler;
+
+        uint8_t dxl_error = 0;
+        uint32_t goal_position = 0;
+        int dxl_comm_result = COMM_TX_FAIL;
+};
+
+#endif // HHUMANOID_SDK_HUMANOIDSDK_HPP_