From a7c8d5ce5e6d6ff6eae740e948d5a0c2a5ed09e1 Mon Sep 17 00:00:00 2001 From: Woojin Wie Date: Wed, 4 Feb 2026 13:53:46 +0900 Subject: [PATCH] Add xm335_t323 model, rename xc335 to xm335, bump to 1.5.2 --- CHANGELOG.rst | 5 + package.xml | 2 +- param/dxl_model/dynamixel.model | 3 +- .../{xc335_t332.model => xm335_t323.model} | 0 param/dxl_model/xm335_t332.model | 124 ++++++++++++++++++ 5 files changed, 132 insertions(+), 2 deletions(-) rename param/dxl_model/{xc335_t332.model => xm335_t323.model} (100%) create mode 100644 param/dxl_model/xm335_t332.model diff --git a/CHANGELOG.rst b/CHANGELOG.rst index 992a90c..6484a63 100644 --- a/CHANGELOG.rst +++ b/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package dynamixel_hardware_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +1.5.2 (2026-02-04) +------------------ +* Added xm335_t323 model file +* Contributors: Woojin Wie + 1.5.1 (2025-12-10) ------------------ * Fixed deprecated interface for ros2 control diff --git a/package.xml b/package.xml index 53e8c67..f37fed1 100644 --- a/package.xml +++ b/package.xml @@ -2,7 +2,7 @@ dynamixel_hardware_interface - 1.5.1 + 1.5.2 ROS 2 package providing a hardware interface for controlling Dynamixel motors via the ROS 2 control framework. diff --git a/param/dxl_model/dynamixel.model b/param/dxl_model/dynamixel.model index 8bcf116..78cc3b0 100644 --- a/param/dxl_model/dynamixel.model +++ b/param/dxl_model/dynamixel.model @@ -77,7 +77,8 @@ Number Name 1240 xc330_m288.model 1270 xw430_t333.model 1310 xw540_h260.model -1700 xc335_t332.model +1700 xm335_t332.model +1710 xm335_t323.model 2000 ph42_020_s300.model 2010 ph54_100_s500.model 2020 ph54_200_s500.model diff --git a/param/dxl_model/xc335_t332.model b/param/dxl_model/xm335_t323.model similarity index 100% rename from param/dxl_model/xc335_t332.model rename to param/dxl_model/xm335_t323.model diff --git a/param/dxl_model/xm335_t332.model b/param/dxl_model/xm335_t332.model new file mode 100644 index 0000000..d21a3b0 --- /dev/null +++ b/param/dxl_model/xm335_t332.model @@ -0,0 +1,124 @@ +[unit info] +Data Name value unit Sign Type Offset +Present Velocity 0.0239691227 rad/s signed 0.0 +Goal Velocity 0.0239691227 rad/s signed 0.0 +Present Current 1.0 raw signed 0.0 +Goal Current 1.0 raw signed 0.0 +Present Position 0.0015339807878856412 rad signed -3.14159265359 +Goal Position 0.0015339807878856412 rad signed -3.14159265359 + +[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 +9 1 Return Delay Time +10 1 Drive Mode +11 1 Operating Mode +12 1 Secondary(Shadow) ID +13 1 Protocol Type +20 4 Homing Offset +24 4 Moving Threshold +31 1 Temperature Limit +32 2 Max Voltage Limit +34 2 Min Voltage Limit +36 2 PWM Limit +38 2 Current Limit +44 4 Velocity Limit +48 4 Max Position Limit +52 4 Min Position Limit +60 2 Startup Configuration +62 1 PWM Slope +63 1 Shutdown +64 1 Torque Enable +65 1 LED +68 1 Status Return Level +69 1 Registered Instruction +70 1 Hardware Error Status +76 2 Velocity I Gain +78 2 Velocity P Gain +80 2 Position D Gain +82 2 Position I Gain +84 2 Position P Gain +88 2 Feedforward 2nd Gain +90 2 Feedforward 1st Gain +98 1 Bus Watchdog +100 2 Goal PWM +102 2 Goal Current +104 4 Goal Velocity +108 4 Profile Acceleration +112 4 Profile Velocity +116 4 Goal Position +120 2 Realtime Tick +122 1 Moving +123 1 Moving Status +124 2 Present PWM +126 2 Present Current +128 4 Present Velocity +132 4 Present Position +136 4 Velocity Trajectory +140 4 Position Trajectory +144 2 Present Input Voltage +146 1 Present Temperature +168 2 Indirect Address 1 +170 2 Indirect Address 2 +172 2 Indirect Address 3 +174 2 Indirect Address 4 +176 2 Indirect Address 5 +178 2 Indirect Address 6 +180 2 Indirect Address 7 +182 2 Indirect Address 8 +184 2 Indirect Address 9 +186 2 Indirect Address 10 +188 2 Indirect Address 11 +190 2 Indirect Address 12 +192 2 Indirect Address 13 +194 2 Indirect Address 14 +196 2 Indirect Address 15 +198 2 Indirect Address 16 +200 2 Indirect Address 17 +202 2 Indirect Address 18 +204 2 Indirect Address 19 +206 2 Indirect Address 20 +208 2 Indirect Address 21 +210 2 Indirect Address 22 +212 2 Indirect Address 23 +214 2 Indirect Address 24 +216 2 Indirect Address 25 +218 2 Indirect Address 26 +220 2 Indirect Address 27 +222 2 Indirect Address 28 +224 1 Indirect Data 1 +226 1 Indirect Data 2 +228 1 Indirect Data 3 +230 1 Indirect Data 4 +232 1 Indirect Data 5 +234 1 Indirect Data 6 +236 1 Indirect Data 7 +238 1 Indirect Data 8 +240 1 Indirect Data 9 +242 1 Indirect Data 10 +244 1 Indirect Data 11 +246 1 Indirect Data 12 +248 1 Indirect Data 13 +250 1 Indirect Data 14 +252 1 Indirect Data 15 +254 1 Indirect Data 16 +256 1 Indirect Data 17 +258 1 Indirect Data 18 +260 1 Indirect Data 19 +262 1 Indirect Data 20 +264 1 Indirect Data 21 +266 1 Indirect Data 22 +268 1 Indirect Data 23 +270 1 Indirect Data 24 +272 1 Indirect Data 25 +274 1 Indirect Data 26 +276 1 Indirect Data 27 +278 1 Indirect Data 28 +168 2 Indirect Address Write +224 1 Indirect Data Write +180 2 Indirect Address Read +230 1 Indirect Data Read