Robotis Dynamixel Pro, Quick Start Manual

Page: 92 / 140

Quick Start for Dynamixel Pro v1.00b
Page 92 / 139
else
{
if (ErrorStatus != 0 )
PrintErrorCode(ErrorStatus);
}
position = -100000;
velocity = 1000;
acceleration = 2;
//Make a tx data
data[0] = DXL_LOBYTE(DXL_LOWORD(position));
data[1] = DXL_HIBYTE(DXL_LOWORD(position));
data[2] = DXL_LOBYTE(DXL_HIWORD(position));
data[3] = DXL_HIBYTE(DXL_HIWORD(position));
data[4] = DXL_LOBYTE(DXL_LOWORD(velocity));
data[5] = DXL_HIBYTE(DXL_LOWORD(velocity));
data[6] = DXL_LOBYTE(DXL_HIWORD(velocity));
data[7] = DXL_HIBYTE(DXL_HIWORD(velocity));
data[8] = DXL_LOBYTE(DXL_LOWORD(acceleration));
data[9] = DXL_HIBYTE(DXL_LOWORD(acceleration));
data[10] = DXL_LOBYTE(DXL_HIWORD(acceleration));
data[11] = DXL_HIBYTE(DXL_HIWORD(acceleration));
//change the position value, moving speed, acceleration using indirect addr
printf( "Press any key to change the position, speed, acceleration...\n" );
_getch();
Result = dxl_write(Port, ID, P_INDIRECT_DATA_0, 12, data, &ErrorStatus);
if ( Result != COMM_RXSUCCESS )
{
printf( "Failed to write!\n" );
printf( "Press any key to terminate...\n" );
_getch();
return 0;
}
else
{
if (ErrorStatus != 0 )
PrintErrorCode(ErrorStatus);
}
//Close the port of USB2DXL
printf( "Press any key to terminate...\n" );
_getch();
dxl_terminate(Port);
return 0;
}