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DynamixelDriver

Communicates with dynamixel servos (AX12 & RX24). NOTE: This class doesn't send start bytes & checksum, please make custom communicator (@dependecies.communicator) if you want these features.

Method Summary

Public Methods
public

go(position: Number, config: Object): *

Set servo to required position and get promise when position is reached

Public Methods

public go(position: Number, config: Object): * source

Set servo to required position and get promise when position is reached

Params:

NameTypeAttributeDescription
position Number

Required position in degrees

config Object
  • optional

Configuration options.

config.pollingPeriod Number
  • optional

Polling period for servo's present position in ms

config.tolerance Number
  • optional

Tolerated error in degrees

config.timeout Number
  • optional

Maximal time servo to reach a position in ms

config.firmwareImplementation Boolean
  • optional

Should it use firmware (true) or software (false) implementation. Firmware implementation is faster, however in that case we have to have a dedicated hardware (our actuator board supports it).

Return:

*