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Add OMY dynamixel model files #23

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Add OMY dynamixel model files #23

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3 changes: 3 additions & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
Expand Up @@ -505,6 +505,9 @@ CATKIN_IGNORE
AMENT_IGNORE
COLCON_IGNORE

## Dynamixel model files
!*.model


##############################
# ETC.
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2 changes: 2 additions & 0 deletions param/dxl_model/dynamixel.model
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Expand Up @@ -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
Comment on lines +45 to +46
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@gemini-code-assist gemini-code-assist bot Mar 25, 2025

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medium

Adding the new OMY models here is good, but is there any validation in the code to ensure that these are expected values? Without validation, unexpected model numbers could cause issues. Consider adding a comment explaining the source of these model numbers.

# OMY Dynamixel Models
220\tomy_hat.model
230\tomy_end.model

52 changes: 52 additions & 0 deletions param/dxl_model/omy_end.model
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[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
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@gemini-code-assist gemini-code-assist bot Mar 25, 2025

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medium

This file defines the control table for the omy_end model. It's important to ensure that all necessary parameters are included and correctly defined. Double-check against the Dynamixel documentation for this model to ensure completeness. Are the min/max radian values correct?

35 changes: 35 additions & 0 deletions param/dxl_model/omy_hat.model
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[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
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medium

Similar to omy_end.model, this file defines the control table for the omy_hat model. Ensure all necessary parameters are included and correctly defined. A thorough review of the Dynamixel documentation is needed to confirm completeness.

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