Robotis Dynamixel Pro, Quick Start Manual

Page: 82 / 140

Quick Start for Dynamixel Pro v1.00b
Page 82 / 139
else
PrintErrorCode(ErrorStatus);
//Change the Goal position
printf( "Press any key to change the Goal Position to -120000\n" );
_getch();
Result = dxl_write_dword(Port, ID, P_GOAL_POSITION, -120000, &ErrorStatus);
if ( Result != COMM_RXSUCCESS )
{
printf( "Failed to write!\n" );
printf( "Press any key to terminate...\n" );
_getch();
return 0;
}
else
PrintErrorCode(ErrorStatus);
//Change the Goal position
printf( "Press any key to change the Goal Position to -100000\n" );
_getch();
Result = dxl_write_dword(Port, ID, P_GOAL_POSITION, -100000, &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.