Robotis Dynamixel Pro, Quick Start Manual

Page: 83 / 140

Quick Start for Dynamixel Pro v1.00b
Page 83 / 139
iii. Extending the operating range of Dynamixel PRO.
- Please refer to 1.1 for information reg/- Position Limits.
- The program’s entire source code 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_PLUS_POSITION_LIMIT 36 //Address of Plus Position Limit in Control Table
#define P_MINUS_POSITION_LIMIT 40 //Address of Minus Position Limit 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)
printf( "Checksum error!\n" );
if (ErrorCode & ERRBIT_OVERLOAD)
printf( "Overload error!\n" );
if (ErrorCode & ERRBIT_INSTRUCTION)
printf( "Instruction code error!\n" );
}
int main( void )
{
SerialPort sp = {0,0,0,0,0};
SerialPort *Port = &sp;