Robotis Dynamixel Pro, Quick Start Manual

Page: 121 / 140

Quick Start for Dynamixel Pro v1.00b
Page 121 / 139
// This step is essential. After Torque Enable is on RAM area addresses can be changed.
DXL.WriteByte ( 1, TORQUE_ENABLE, 1, 0 );
// after enabling Torque Enable
// sad main routine involving RAM address(es) here (i.e. Goal Position)
…
// the following lines verify that Dynamixel’s Torque Enable has been turned on
// by outputting a “1” onscreen
result = DXL.ReadByte(1, TORQUE_ENABLE, &On, &error);
if ( result == COMM_RXSUCCESS )
printf( "%d\n", On);
// must close USB-to-Dynamixel before ending
DXL.Disconnect();
return 0;
}
1.4.3 Implementing read/write functions
i. Write functions
- Monitor for Dynamixel PRO in Linux emphasized that different size addresses
required different type of write commands. The same concept applies at the source
code level.
- There are 4 types of write commands for Dynamixel PRO
- Implement
WriteByte
for addresses with size of 1 byte
- Implement
WriteWord
for addresses with size of 2 bytes
- Implement
WriteDWord
for addresses with size of 4 bytes
- Implement
SyncWrite
(explained later) for for multiple Dynamixel PROs at
once.
ii. Read functions
- Monitor for Dynamixel PRO in Linux emphasized that different size addresses
required different type of read commands. The same concept applies at the source
code level.
- There are 4 types of write commands for Dynamixel PRO
- Implement
ReadByte
for addresses with size of 1 byte
- Implement
ReadWord
for addresses with size of 2 bytes
- Implement
ReadDWord
for addresses with size of 4 bytes
- Implement
BulkRead
(explained later) for multiple Dynamixel PROs at once.
The following example is a simple read/write sample code of Dynamixel PRO in Joint Mode (default)
/dxl_sdk-20/example/ReadWrite/main.cpp (partly shown)
// declare the following in preprocessor for illustrative purposes
#define P_TORQUE_ENABLE 562
#define P_GOAL_POSITION_LL 596
#define P_PRESENT_POSITION_LL 611
#define P_MOVING 610