Robotis Dynamixel Pro, Quick Start Manual

Page: 95 / 140

Quick Start for Dynamixel Pro v1.00b
Page 95 / 139
//Set the Indirect Address for Present Temperature
printf( "Press any key to set the indirect address for temperature...\n" );
_getch();
Result = dxl_write_word(Port, ID, P_INDIRECT_ADDRESS_0,
P_PRESENT_TEMPERATURE, &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);
else
printf( "Succeed to set the indirect address for temperature!\n" );
}
//Set the Indirect Address for Goal Velocity
printf( "Press any key to set the indirect address for present position...\n" );
_getch();
Result = dxl_write_word(Port, ID, P_INDIRECT_ADDRESS_1, P_PRESENT_POSITION,
&ErrorStatus);
Result = dxl_write_word(Port, ID, P_INDIRECT_ADDRESS_2,
P_PRESENT_P1, &ErrorStatus);
Result = dxl_write_word(Port, ID, P_INDIRECT_ADDRESS_3,
P_PRESENT_P2, &ErrorStatus);
Result = dxl_write_word(Port, ID, P_INDIRECT_ADDRESS_4,
P_PRESENT_P3, &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);
else
printf( "Succeed to set the indirect address for present position!\n" );
}
//Torque On
printf( "Torque On...\n" );