Robotis Dynamixel Pro, Quick Start Manual

Page: 88 / 140

Quick Start for Dynamixel Pro v1.00b
Page 88 / 139
Table
#define P_INDIRECT_ADDRESS_5 59 //Address of 6th Indirect Address in Control
Table
#define P_INDIRECT_ADDRESS_6 61 //Address of 7th Indirect Address in Control
Table
#define P_INDIRECT_ADDRESS_7 63 //Address of 8th Indirect Address in Control
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#define P_INDIRECT_ADDRESS_8 65 //Address of 9th Indirect Address in Control
Table
#define P_INDIRECT_ADDRESS_9 67 //Address of 10th Indirect Address in Control
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#define P_INDIRECT_ADDRESS_10 69 //Address of 11th Indirect Address in Control
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#define P_INDIRECT_ADDRESS_11 71 //Address of 12th Indirect Address 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 P_GOAL_VELOCITY 600 //Address of Goal Velocity in Control Table
#define P_GOAL_ACCELERATION 606 //Address of Goal Acceleration in Control
Table
#define P_INDIRECT_DATA_0 634 //Address of Goal Indirect Data 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" );
}