Robotis Dynamixel Pro, Quick Start Manual

Page: 56 / 140

Quick Start for Dynamixel Pro v1.00b
Page 56 / 139
vi. Modifying the P gain value of Dynamixel PRO
- Let’s control the P gain value of Dynamixel PRO’s position.
- Dynamixel PRO implements PID control to maniputate its motor; therefore, the
movement changes cooresponding to the gain values.
- On Dynamixel PRO’s Control Table, the Position_P_Gain address is set as 594
and it utilizes 2 bytes (1 word) of memory.
- Thus,
dxl_write_word
function, which modifies 2 bytes of memory, changes
the P gain value.
- The program’s entire source is shown below.
main.cpp
#include <stdio.h>
#include <conio.h>
#include "dynamixel.h"
#define COM_PORT_NUM 17 //Comport Number of USB2DXL
#define BAUD_RATE_NUM 3 //Baudrate Number of Dynamixel PRO
#define P_TORQUE_ENABLE 562 //Address of Torque Enable in Control Table
#define P_POSITION_P_GAIN 594 //Address of Position P Gain in Contorl Table
#define P_GOAL_POSITION 596 //Address of Goal Position in Contorl Table
#define ID 1 //ID of Dynamixel PRO you use
// Print error bit of status packet
void PrintErrorCode( int ErrorCode)
{
if (ErrorCode & ERRBIT_VOLTAGE)
printf( "Input voltage error!\n" );
if (ErrorCode & ERRBIT_ANGLE)
printf( "Angle limit error!\n" );
if (ErrorCode & ERRBIT_OVERHEAT)
printf( "Overheat error!\n" );
if (ErrorCode & ERRBIT_RANGE)
printf( "Out of range error!\n" );
if (ErrorCode & ERRBIT_CHECKSUM)
printf( "Checksum error!\n" );
if (ErrorCode & ERRBIT_OVERLOAD)
printf( "Overload error!\n" );
if (ErrorCode & ERRBIT_INSTRUCTION)
printf( "Instruction code error!\n" );
}
int main( void )