DynamixelHandler.h File Reference

HAL-level handler for Protocol 2.0 Dynamixel servos on BaseUart. More...

#include <atomic>
#include <cstddef>
#include <cstdint>
#include "RtosMutex.h"
#include "base/BaseUart.h"
#include "dynamixel.hpp"

Go to the source code of this file.

Classes
class	HalUartDynamixelComm
	CRTP adapter that turns a BaseUart& into dynamixel::Transport. More...
struct	DynamixelHandlerConfig
class	DynamixelHandler
	HAL handler wrapping one Dynamixel servo on a BaseUart. More...

Detailed Description

HAL-level handler for Protocol 2.0 Dynamixel servos on BaseUart.

Bridges the portable dynamixel::Bus / Device API (from hf-core-drivers/external/hf-dynamixel-driver) to a BaseUart&. Apps that already own a configured UART construct DynamixelHandler(uart, cfg) and consume the narrow API. The CRTP adapter never leaks above the HAL boundary (same pattern as Fdo2Handler / AlicatBasis2Handler).

EnsureInitialized() opens the bus and identifies the servo. It does not enable torque or change operating mode.

Copyright

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