From 2ec2c09855a1340dd8689b1ac77c0b2d5db03e10 Mon Sep 17 00:00:00 2001 From: Woojin Wie Date: Tue, 25 Mar 2025 12:58:39 +0900 Subject: [PATCH] feat: add OMY dynamixel model files - Add omy_hat.model and omy_end.model to supported dynamixel models - Update dynamixel.model to include new OMY models (220 and 230) - Update gitignore to ensure model files are tracked --- .gitignore | 3 ++ param/dxl_model/dynamixel.model | 2 ++ param/dxl_model/omy_end.model | 52 +++++++++++++++++++++++++++++++++ param/dxl_model/omy_hat.model | 35 ++++++++++++++++++++++ 4 files changed, 92 insertions(+) create mode 100644 param/dxl_model/omy_end.model create mode 100644 param/dxl_model/omy_hat.model diff --git a/.gitignore b/.gitignore index 95e3931..9e5f48a 100644 --- a/.gitignore +++ b/.gitignore @@ -505,6 +505,9 @@ CATKIN_IGNORE AMENT_IGNORE COLCON_IGNORE +## Dynamixel model files +!*.model + ############################## # ETC. diff --git a/param/dxl_model/dynamixel.model b/param/dxl_model/dynamixel.model index 3fd5e86..e6e1ad7 100644 --- a/param/dxl_model/dynamixel.model +++ b/param/dxl_model/dynamixel.model @@ -42,3 +42,5 @@ Number Name 4150 ym080_230_r099.model 4170 ym080_230_a099.model 35074 rh_p12_rn.model +220 omy_hat.model +230 omy_end.model diff --git a/param/dxl_model/omy_end.model b/param/dxl_model/omy_end.model new file mode 100644 index 0000000..c6c5640 --- /dev/null +++ b/param/dxl_model/omy_end.model @@ -0,0 +1,52 @@ +[type info] +name value +value_of_zero_radian_position 0 +value_of_max_radian_position 740 +value_of_min_radian_position 0 +min_radian 0.0 +max_radian 1.099 + +[control table] +Address Size Data Name +0 2 Model Number +2 4 Model Information +6 1 Firmware Version +7 1 ID +8 1 Baud Rate (Bus) +10 1 Tool Analog Enable +11 1 Tool Baud Rate +12 1 Tool Protocol +13 1 Tool ID +14 1 Tool Status +30 1 Button Status +32 1 R LED +33 1 G LED +34 1 B LED +36 2 Realtime Tick +40 1 Digital Input +41 1 Digital Output +42 2 Analog Input1 +44 2 Analog Input2 +46 1 SyncTable Enable +48 2 SyncTable Read Address +52 2 SyncTable Read Size +56 2 SyncTable Write Address +60 2 SyncTable Write Size +378 2 Indirect Address +634 1 Indirect Data +72 1 Hardware Error Status +73 1 Moving +74 2 Present Current +76 4 Present Velocity +80 4 Present Position +84 4 Position Trajectory +200 1 Torque Enable +202 2 Goal Current +204 4 Goal Velocity +208 4 Goal Position +378 2 Indirect Address 1 +634 1 Indirect Data 1 +378 2 Indirect Address Write +634 1 Indirect Data Write +402 2 Indirect Address Read +646 1 Indirect Data Read diff --git a/param/dxl_model/omy_hat.model b/param/dxl_model/omy_hat.model new file mode 100644 index 0000000..e51bd9f --- /dev/null +++ b/param/dxl_model/omy_hat.model @@ -0,0 +1,35 @@ +[control table] +Address Size Data Name +0 2 Model Number +2 4 Model Information +6 1 Firmware Version +7 1 ID +8 1 Baud Rate (Bus) +9 1 DXL Baud Rate +10 2 DB Voltage +12 1 DB Voltage Thresh +14 2 DB Voltage D Gain +16 2 DB Voltage I Gain +18 2 DB Voltage P Gain +20 1 SyncTable ID +30 2 SyncTable Read Address +50 2 SyncTable Read Size +70 2 SyncTable Write Address +90 2 SyncTable Write Size +110 2 SyncTable Period +112 2 Indirect Address +512 1 Power Enable +513 1 Voltage Control Enable +514 1 Table Sync Enable +515 1 R LED +516 1 G LED +517 1 B LED +518 1 Status +519 1 EMG Power Ctrl +520 2 Realtime Tick +522 2 Present Input Voltage +524 2 Present Input Current +550 1 Status Return Level +560 1 SyncTable Read Data +688 1 SyncTable Write Data +816 1 Indirect Data