Robotis Dynamixel Pro, Quick Start Manual

Page: 101 / 140

Quick Start for Dynamixel Pro v1.00b
Page 101 / 139
COMM_RXSUCCESS )
printf( "Succeed to open USB2Dynamixel!\n" );
else
{
printf( "Failed to open USB2Dynamixel!\n" );
printf( "Press any key to terminate...\n" );
_getch();
return 0;
}
int Result;
unsigned char param[15];
//Torque ON
printf( "Torque On\n" );
param[0] = ID_1;
param[1] = 1;
param[2] = ID_2;
param[3] = 1;
param[4] = ID_3;
param[5] = 1;
Result = dxl_sync_write(Port, P_TORQUE_ENABLE, 1, param, 6);
if ( Result != COMM_RXSUCCESS )
{
printf( "Failed to write!\n" );
printf( "Press any key to terminate...\n" );
_getch();
return 0;
}
param[0] = ID_1;
param[1] = DXL_LOBYTE(DXL_LOWORD(100000));
param[2] = DXL_HIBYTE(DXL_LOWORD(100000));
param[3] = DXL_LOBYTE(DXL_HIWORD(100000));
param[4] = DXL_HIBYTE(DXL_HIWORD(100000));
param[5] = ID_2;
param[6] = DXL_LOBYTE(DXL_LOWORD(50000));
param[7] = DXL_HIBYTE(DXL_LOWORD(50000));
param[8] = DXL_LOBYTE(DXL_HIWORD(50000));
param[9] = DXL_HIBYTE(DXL_HIWORD(50000));
param[10]= ID_3;
param[11]= DXL_LOBYTE(DXL_LOWORD(-80000));
param[12]= DXL_HIBYTE(DXL_LOWORD(-80000));
param[13]= DXL_LOBYTE(DXL_HIWORD(-80000));
param[14]= DXL_HIBYTE(DXL_HIWORD(-80000));
printf( "Press any to change goal position...\n" );
_getch();
Result = dxl_sync_write(Port, P_GOAL_POSITION, 4, param, 15);
if ( Result != COMM_RXSUCCESS )