Robotis Dynamixel Pro, Quick Start Manual

Page: 78 / 140

Quick Start for Dynamixel Pro v1.00b
Page 78 / 139
{
if (ErrorStatus != 0 )
PrintErrorCode(ErrorStatus);
else
printf( "Succeed to chage the homing offset!\n" );
}
//Torque On
printf( "Torque On...\n" );
Result = dxl_write_byte(Port, ID, P_TORQUE_ENABLE, 1, &ErrorStatus);
if ( Result != COMM_RXSUCCESS )
{
printf( "Failed to write!\n" );
printf( "Press any key to terminate...\n" );
_getch();
return 0;
}
//Change the Goal position
printf( "Press any key to change the Goal Position...\n" );
_getch();
Result = dxl_write_dword(Port, ID, P_GOAL_POSITION, 0, &ErrorStatus);
if ( Result != COMM_RXSUCCESS )
{
printf( "Failed to write!\n" );
printf( "Press any key to terminate...\n" );
_getch();
return 0;
}
else
PrintErrorCode(ErrorStatus);
//Close the port of USB2DXL
printf( "Press any key to terminate...\n" );
_getch();
dxl_terminate(Port);
return 0;
}
- If the program does not run properly check if the Operating Mode is set to Joint
Mode.