Rhoban/RhAL

Rhoban Hardware Abstraction Library

RhAL

Rhoban hardware abstraction library. You can use it to interract with the supported devices.

## Documentation

• Getting started
• Supported buses
  • Serial
• Supported protocol
  • Dynamixel V1
  • Dynamixel V2
• Supported devices
  • Dynamixel
  • Dynaban
  • IMU
  • Force sensor
• The rhal.json configuration
• The rhal command line tool

TO DO

• The timeout value has to be fixed by the user (currently it has a fixed constant value). It should be chosen depending on the servo configuration (e.g. "return delay time" for a dxl servo) and baudrate.
• Check endianness in the writeFloatToBuffer method
• Add EX106, xl320