Robotis Dynamixel Pro, Quick Start Manual

Page: 70 / 140

Quick Start for Dynamixel Pro v1.00b
Page 70 / 139
}
int main( void )
{
SerialPort sp = {0,0,0,0,0};
SerialPort *Port = &sp;
//Open the port of USB2DXL
if (dxl_initialize(Port, COM_PORT_NUM, BAUD_RATE_NUM) == 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, ErrorStatus;
//Torque Off
printf( "Torque Off...\n" );
Result = dxl_write_byte(Port, ID, P_TORQUE_ENABLE, 0, &ErrorStatus);
if ( Result != COMM_RXSUCCESS )
{
printf( "Failed to write!\n" );
printf( "Press any key to terminate...\n" );
_getch();
return 0;
}
printf( "Press any key to change the operating mode...\n" );
_getch();
Result = dxl_write_byte(Port, ID, P_OPERATING_MODE, 1, &ErrorStatus);
if ( Result != COMM_RXSUCCESS )
{
printf( "Failed to write!\n" );
printf( "Press any key to terminate...\n" );
_getch();
return 0;
}
else
{
if (ErrorStatus != 0 )
PrintErrorCode(ErrorStatus);
else
printf( "Succeed to chage the operationg mode!\n" );
}
//Torque On