{"id":883,"date":"2017-08-16T12:48:21","date_gmt":"2017-08-16T03:48:21","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=883"},"modified":"2017-08-16T12:48:21","modified_gmt":"2017-08-16T03:48:21","slug":"fawkes-%e3%81%ab%e3%81%8a%e3%81%91%e3%82%8b-dynamixel-%e3%81%aestatus-return-level-%e3%81%ae%e6%89%b1%e3%81%84","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=883","title":{"rendered":"Fawkes \u306b\u304a\u3051\u308b Dynamixel \u306eStatus Return Level \u306e\u6271\u3044"},"content":{"rendered":"<p>Fawkes \u306e Dynamixel \u306f\uff0c\u5fdc\u7b54\u901f\u5ea6\u3092\u9ad8\u3081\u308b\u305f\u3081\uff0cservo \u304b\u3089\u306e\u8fd4\u4e8b\u3092\u300cREAD_DATA\u3060\u3051\u306b\u5fdc\u7b54\u3059\u308b\u300d\u306b\u5909\u66f4\u3057\u3066\u3044\u307e\u3059\uff0e<br \/>\n\u3068\u3044\u3046\u304b\uff0c\u5f37\u5236\u4e0a\u66f8\u304d\u3057\u3066\u3044\u307e\u3059\u2026\uff0e<\/p>\n<p>\u300c\u3059\u3079\u3066\u306e\u30a4\u30f3\u30b9\u30c8\u30e9\u30af\u30b7\u30e7\u30f3\u306b\u5fdc\u7b54\u3059\u308b\u300d\u3067\u904b\u7528\u3057\u305f\u3044\u6642\u3082\u3042\u308a\u307e\u3059\u306e\u3067\uff0c<br \/>\ncfg\/conf.d\/dynamixel.yaml \u3067\u8a2d\u5b9a\u3067\u304d\u308b\u3088\u3046\u306b\u3057\u307e\u3057\u305f\uff0e<\/p>\n<p>\u307e\u305a\uff0cyaml \u30d5\u30a1\u30a4\u30eb\u306f\uff0c\u4ee5\u4e0b\u306e\u901a\u308a\u3067\u3059\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\nIndex: btr2017\/rcll2017\/fawkes-robotino\/cfg\/conf.d\/dynamixel.yaml\r\n===================================================================\r\n--- btr2017\/rcll2017\/fawkes-robotino\/cfg\/conf.d\/dynamixel.yaml (revision 1760)\r\n+++ btr2017\/rcll2017\/fawkes-robotino\/cfg\/conf.d\/dynamixel.yaml (revision 1855)\r\n@@ -68,2 +68,8 @@\r\n     autorecover_enabled: true\r\n     autorecover_flags: 127\r\n+\r\n+    # set return_level\r\n+    # 0: SRL_RESPONDE_NONE\r\n+    # 1: SRL_RESPOND_READ\r\n+    # 2: SRL_RESPOND_ALL\r\n+    return_level: 2\r\n<\/pre>\n<p>\u4e0a\u8a18\u306ereturn_level \u3092\u6271\u3046\u5909\u6570\u3068\u3057\u3066\uff0ccfg_return_level_ \u3092\u7528\u610f<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\nIndex: btr2017\/rcll2017\/fawkes-robotino\/fawkes\/src\/plugins\/dynamixel\/driver_thread.h\r\n===================================================================\r\n--- btr2017\/rcll2017\/fawkes-robotino\/fawkes\/src\/plugins\/dynamixel\/driver_thread.h (revision 1699)\r\n+++ btr2017\/rcll2017\/fawkes-robotino\/fawkes\/src\/plugins\/dynamixel\/driver_thread.h (revision 1855)\r\n@@ -130,4 +130,5 @@\r\n   float         cfg_max_voltage_;\r\n   std::vector&lt;unsigned int&gt; cfg_servos_to_discover_;\r\n+  unsigned char cfg_return_level_;\r\n   \r\n   void  goto_angle(unsigned int servo_id, float angle);\r\n<\/pre>\n<p>yaml \u304b\u3089\u8aad\u307f\u8fbc\u3093\u3067\u5909\u6570\u306b\u4ee3\u5165\u3059\u308b\u90e8\u5206\u3068\uff0c\u521d\u671f\u5316\u6642\u306b\u305d\u308c\u3092\u5229\u7528\u3059\u308b\u90e8\u5206\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\nIndex: btr2017\/rcll2017\/fawkes-robotino\/fawkes\/src\/plugins\/dynamixel\/driver_thread.cpp\r\n===================================================================\r\n--- btr2017\/rcll2017\/fawkes-robotino\/fawkes\/src\/plugins\/dynamixel\/driver_thread.cpp (revision 1800)\r\n+++ btr2017\/rcll2017\/fawkes-robotino\/fawkes\/src\/plugins\/dynamixel\/driver_thread.cpp (revision 1855)\r\n@@ -86,4 +86,5 @@\r\n   cfg_max_voltage_                      = config-&gt;get_float((cfg_prefix_ + &quot;max_voltage&quot;).c_str());\r\n   cfg_servos_to_discover_               = config-&gt;get_uints((cfg_prefix_ + &quot;servos&quot;).c_str());\r\n+  cfg_return_level_\t\t\t= config-&gt;get_uint((cfg_prefix_ + &quot;return_level&quot;).c_str());\r\n \r\n   chain_ = new DynamixelChain(cfg_device_.c_str(), cfg_read_timeout_ms_, cfg_enable_echo_fix_, cfg_enable_connection_stability_, cfg_min_voltage_, cfg_max_voltage_);\r\n@@ -145,6 +146,14 @@\r\n   }\r\n \r\n+  unsigned char cfg_return_levels_&#x5B;] = {DynamixelChain::SRL_RESPOND_NONE, \r\n+\t  \t\t\t\tDynamixelChain::SRL_RESPOND_READ,\r\n+\t\t\t\t\tDynamixelChain::SRL_RESPOND_ALL};\r\n+\r\n+  \/* \r\n   \/\/ We only want responses to be sent on explicit READ to speed up communication\r\n   chain_-&gt;set_status_return_level(DynamixelChain::BROADCAST_ID, DynamixelChain::SRL_RESPOND_READ);\r\n+  *\/\r\n+  chain_-&gt;set_status_return_level(DynamixelChain::BROADCAST_ID, cfg_return_levels_&#x5B;cfg_return_level_]);\r\n+\r\n   \/\/ set compliance values\r\n   chain_-&gt;set_compliance_values(DynamixelChain::BROADCAST_ID,\r\n<\/pre>\n<p>\u3053\u308c\u3067\uff0c\u7c21\u5358\u306b\u5207\u308a\u66ff\u3048\u3089\u308c\u307e\u3059\uff0e<\/p>\n<p><em>\u6c7a\u3057\u3066\uff0c0 ( = SRL_RESPOND_NONE)\u3092\u6307\u5b9a\u3057\u306a\u3044\u3053\u3068\uff01<\/em><br \/>\n\u6307\u5b9a\u3059\u308b\u3068\uff0c\u5fdc\u7b54\u3057\u306a\u304f\u306a\u308a\uff0cfawkes \u304b\u3089\u3082\u624b\u51fa\u3057\u3067\u304d\u306a\u304f\u306a\u308a\u307e\u3059\uff0e<br \/>\n\u305d\u306e\u6642\u306f\uff0c\u7d14\u6b63\u306e\u8a2d\u5b9a\u30c4\u30fc\u30eb\u3092\u4f7f\u3063\u3066\u304f\u3060\u3055\u3044\uff08\u305f\u3060\u3057\uff0cWindows \u306e\u307f\u3067\u52d5\u4f5c\uff09\uff0e<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Fawkes \u306e Dynamixel \u306f\uff0c\u5fdc\u7b54\u901f\u5ea6\u3092\u9ad8\u3081\u308b\u305f\u3081\uff0cservo \u304b\u3089 &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/www.kdel.org\/wp\/?p=883\"> <span class=\"screen-reader-text\">Fawkes \u306b\u304a\u3051\u308b Dynamixel \u306eStatus Return Level \u306e\u6271\u3044<\/span> \u7d9a\u304d\u3092\u8aad\u3080 &raquo;<\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_crdt_document":"","footnotes":""},"categories":[10,3,2],"tags":[],"class_list":["post-883","post","type-post","status-publish","format-standard","hentry","category-fawkes","category-logistics-league","category-robocup"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/883","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=883"}],"version-history":[{"count":1,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/883\/revisions"}],"predecessor-version":[{"id":884,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/883\/revisions\/884"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=883"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=883"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=883"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}