Robotis Dynamixel Pro, Quick Start Manual

Page: 76 / 140

Quick Start for Dynamixel Pro v1.00b
Page 76 / 139
1.2.3 C programming language funtions.
i. Modifying the zero value of Dynamixel PRO
- You can modify the zero-position of Dynamixel PRO.
- Change the Control table’s Homing Offset to modify Dynamixel PRO’s zero-
position.
- Homing Offset address on the Control Tableis 13 and requires 4 bytes of memory.
Therefore, implement
dxl_write_dword
to modify the Homing Offset value.
- Homing Offset is a part of the EEPROM area, which requires the Torque Enable
to be turned off be for changes.
- When modifying the Homing Offset value, designate the zero position by
inverting the desired zero position with a negative sign (-).
- For instance, to set the Position Valu 50000 as the zero position, -50000 needs to
be entered as the Homing Offset value.
- The program’s entire source code is shown below.
- Check if the Operation Mode is set as ‘Joint Mode’ before running the program
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_HOMING_OFFSET 13 //Address of Homing Offset in Control Table
#define P_TORQUE_ENABLE 562 //Address of Torque Enable in Control Table
#define P_GOAL_POSITION 596 //Address of Goal Position in Control 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)