RoboBuilder wCK series, Руководство пользователя

Страница: 68 / 71

68/71
User’s Manual
v1.07
wCK series
GetByte(TIME_OUT2);
if(GetByte(TIME_OUT2)==NewBaud) return NewBaud;
return 0xff;
}
/*********************************************************************/
/* Function that sends Gain Set Command to wCK module */
/* Input : ServoID, *NewPgain, *NewDgain
*/
/* Return : 1 if succeed, 0 if fail */
/********************************************************************/
char GainSet(char ServoID, char *NewPgain, char *NewDgain)
{
char Data1,Data2;
SendSetCommand((7<<5)|ServoID, 0x09, *NewPgain, *NewDgain);
Data1 = GetByte(TIME_OUT2);
Data2 = GetByte(TIME_OUT2);
if((Data1==*NewPgain) && (Data2==*NewDgain)) return 1;
return 0;
}
/************************************************************/
/* Function that sends ID Set Command to wCK module
*/
/* Input : ServoID, NewId */
/* Return : New ID if succeed, 0xff if fail */
/***********************************************************/
char IdSet(char ServoID, char NewId)
{
SendSetCommand((7<<5)|ServoID, 0x0a, NewId, NewId);
GetByte(TIME_OUT2);
if(GetByte(TIME_OUT2)==NewId) return NewId;
return 0xff;
}
/******************************************************************/
/* Function that sends Gain Read Command to wCK module */
/* Input : ServoID, *NewPgain, *NewDgain
*/
/* Return : 1 if succeed, 0 if fail */
/*****************************************************************/
char GainRead(char ServoID, char *Pgain, char *Dgain)
{
SendSetCommand((7<<5)|ServoID, 0x0c, 0, 0);
*Pgain = GetByte(TIME_OUT1);