Robotis Dynamixel Pro, Quick Start Manual

Page: 125 / 140

Quick Start for Dynamixel Pro v1.00b
Page 125 / 139
// int GoalPos = 151875; // for 42-series
int GoalVel = -3000l
int GoalTorque = 120;
int result = COMM_TXFAIL;
int error = 0;
int val1, val2, val3;
…
// open device and set baud rate here
if ( DXL.Connect() == 0 )
…
// Torque Enable is off by default
// The following line is not necessary but it ensures
// Torque Enable is off regardless
DXL.WriteByte ( 1, TORQUE_ENABLE, 0, 0 );
…
While(1); {
switch(
_getch() ) { // use simply switch loop to change between modes
case 0x1b: // ESC key to set to default settings
DXL.WriteByte(1, TORQUE_ENABLE, 0, 0);
usleep(CONTROL_PERIOD*100);
DXL.WriteByte(1, OPERATING_MODE, 3, 0);
break; }
case 0x30: // “0” key to set in Torque Mode
DXL.WriteByte(1, OPERATING_MODE, 0, 0);
usleep(CONTROL_PERIOD*100);
DXL.WriteByte(1, TORQUE_ENABLE, 1, 0);
usleep(CONTROL_PERIOD*100);
// Goal Torque (604) size is 2 bytes (a word) /
// WriteWord is the appropriate function
DXL.WriteWord(1, GOAL_TORQUE, GoalTorque, &error);
usleep(CONTROL_PERIOD*200);
// after an arbitrary period (i.e. 2 secs in this case)
// output onscreen
// Present Current (621) size is 2 bytes (a word)
// ReadWord is the appropriate function
result = DXL.ReadWord(1, PRESENT_CURRENT, &val1, &error);
if( result == COMM_RXSUCCESS )
printf( "%d\n", val1);
break; }
case 0x31: // “1” key to set in Wheel Mode
DXL.WriteByte(1, OPERATING_MODE, 1, 0);
usleep(CONTROL_PERIOD*100);
DXL.WriteByte(1, TORQUE_ENABLE, 1, 0);
usleep(CONTROL_PERIOD*100);
// Goal Velocity (600) size is 4 bytes (a double-word)
// WriteDWord is the appropriate function
DXL.WriteDWord(1, GOAL_VELOCITY, GoalVel, &error);
usleep(CONTROL_PERIOD*200);
// after an arbitrary period (i.e. 2 secs in this case)
// output onscreen