Rhino Reimburse / Mbed 2 deprecated Dynamixel_XL320

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Dependencies:   mbed

Fork of XL320_Test by Rhino Reimburse

main.cpp@4:2df002cf5f6c, 2016-02-28 (annotated)

Committer:
mfajaradityo
Date:
Sun Feb 28 14:48:03 2016 +0000
Revision:
4:2df002cf5f6c
Parent:
3:89bed7a6d852 
Benerin deskripsi repository yang sebelumnya

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mfajaradityo 2:0ec2dce7c5f8 1 //#include "mbed.h"
mfajaradityo 0:2071f8e463dd 2 #include "XL320_MFA.h"
mfajaradityo 0:2071f8e463dd 3
mfajaradityo 3:89bed7a6d852 4 XL320 servoTest(1000000, p9, p10, p8);
mfajaradityo 0:2071f8e463dd 5
mfajaradityo 0:2071f8e463dd 6 uint8_t value = 100;
mfajaradityo 0:2071f8e463dd 7
mfajaradityo 0:2071f8e463dd 8 int main()
mfajaradityo 0:2071f8e463dd 9 {
mfajaradityo 0:2071f8e463dd 10 while(1)
mfajaradityo 0:2071f8e463dd 11 {
mfajaradityo 0:2071f8e463dd 12 wait(1);
mfajaradityo 4:2df002cf5f6c 13
mfajaradityo 0:2071f8e463dd 14 servoTest.TurnOnLED(1, 1);
mfajaradityo 4:2df002cf5f6c 15 servoTest.TurnOnLED(2, 7);
mfajaradityo 4:2df002cf5f6c 16
mfajaradityo 0:2071f8e463dd 17 servoTest.TurnOnLED(1, 2);
mfajaradityo 4:2df002cf5f6c 18 servoTest.TurnOnLED(2, 6);
mfajaradityo 4:2df002cf5f6c 19
mfajaradityo 0:2071f8e463dd 20 servoTest.TurnOnLED(1, 3);
mfajaradityo 4:2df002cf5f6c 21 servoTest.TurnOnLED(2, 5);
mfajaradityo 4:2df002cf5f6c 22
mfajaradityo 0:2071f8e463dd 23 servoTest.TurnOnLED(1, 4);
mfajaradityo 4:2df002cf5f6c 24 servoTest.TurnOnLED(2, 4);
mfajaradityo 4:2df002cf5f6c 25
mfajaradityo 0:2071f8e463dd 26 servoTest.TurnOnLED(1, 5);
mfajaradityo 4:2df002cf5f6c 27 servoTest.TurnOnLED(2, 3);
mfajaradityo 4:2df002cf5f6c 28
mfajaradityo 0:2071f8e463dd 29 servoTest.TurnOnLED(1, 6);
mfajaradityo 4:2df002cf5f6c 30 servoTest.TurnOnLED(2, 2);
mfajaradityo 4:2df002cf5f6c 31
mfajaradityo 4:2df002cf5f6c 32 servoTest.TurnOnLED(1, 7);
mfajaradityo 4:2df002cf5f6c 33 servoTest.TurnOnLED(2, 1);
mfajaradityo 4:2df002cf5f6c 34
mfajaradityo 4:2df002cf5f6c 35 servoTest.TurnOnLED(2, 8); // should return error message
mfajaradityo 4:2df002cf5f6c 36 servoTest.translateLastRPacket();
mfajaradityo 4:2df002cf5f6c 37 servoTest.TurnOnLED(1, 8); // should return error message
mfajaradityo 0:2071f8e463dd 38 servoTest.translateLastRPacket();
mfajaradityo 0:2071f8e463dd 39
mfajaradityo 2:0ec2dce7c5f8 40 value = servoTest.GetID(1);
mfajaradityo 4:2df002cf5f6c 41 servoTest.translateLastRPacket();
mfajaradityo 4:2df002cf5f6c 42 value = servoTest.GetID(2);
mfajaradityo 4:2df002cf5f6c 43 servoTest.translateLastRPacket();
mfajaradityo 0:2071f8e463dd 44
mfajaradityo 2:0ec2dce7c5f8 45 value = servoTest.GetBaudRate(1);
mfajaradityo 0:2071f8e463dd 46 servoTest.translateLastRPacket();
mfajaradityo 4:2df002cf5f6c 47 value = servoTest.GetBaudRate(2);
mfajaradityo 4:2df002cf5f6c 48 servoTest.translateLastRPacket();
mfajaradityo 0:2071f8e463dd 49
mfajaradityo 4:2df002cf5f6c 50 servoTest.SetTorqueEn(1, 0);
mfajaradityo 4:2df002cf5f6c 51 servoTest.translateLastRPacket();
mfajaradityo 4:2df002cf5f6c 52 servoTest.SetTorqueEn(2, 0);
mfajaradityo 0:2071f8e463dd 53 servoTest.translateLastRPacket();
mfajaradityo 0:2071f8e463dd 54
mfajaradityo 4:2df002cf5f6c 55 servoTest.SetContMode(1, 2);
mfajaradityo 0:2071f8e463dd 56 servoTest.translateLastRPacket();
mfajaradityo 4:2df002cf5f6c 57 servoTest.SetContMode(2, 2);
mfajaradityo 4:2df002cf5f6c 58 servoTest.translateLastRPacket();
mfajaradityo 4:2df002cf5f6c 59 value = servoTest.GetContMode(1);
mfajaradityo 0:2071f8e463dd 60 servoTest.translateLastRPacket();
mfajaradityo 4:2df002cf5f6c 61 value = servoTest.GetContMode(2);
mfajaradityo 0:2071f8e463dd 62 servoTest.translateLastRPacket();
mfajaradityo 0:2071f8e463dd 63
mfajaradityo 0:2071f8e463dd 64 servoTest.SetGoalVel(1, 1000);
mfajaradityo 0:2071f8e463dd 65 servoTest.translateLastRPacket();
mfajaradityo 2:0ec2dce7c5f8 66 value = servoTest.GetGoalVel(1);
mfajaradityo 0:2071f8e463dd 67 servoTest.translateLastRPacket();
mfajaradityo 0:2071f8e463dd 68
mfajaradityo 4:2df002cf5f6c 69 servoTest.SetGoalVel(2, 200);
mfajaradityo 4:2df002cf5f6c 70 servoTest.translateLastRPacket();
mfajaradityo 4:2df002cf5f6c 71 value = servoTest.GetGoalVel(2);
mfajaradityo 4:2df002cf5f6c 72 servoTest.translateLastRPacket();
mfajaradityo 4:2df002cf5f6c 73
mfajaradityo 0:2071f8e463dd 74 servoTest.SetGoalPos(1, 0);
mfajaradityo 0:2071f8e463dd 75 servoTest.translateLastRPacket();
mfajaradityo 2:0ec2dce7c5f8 76 value = servoTest.GetGoalPos(1);
mfajaradityo 0:2071f8e463dd 77 servoTest.translateLastRPacket();
mfajaradityo 0:2071f8e463dd 78
mfajaradityo 4:2df002cf5f6c 79 servoTest.SetGoalPos(2, 1000);
mfajaradityo 4:2df002cf5f6c 80 servoTest.translateLastRPacket();
mfajaradityo 4:2df002cf5f6c 81 value = servoTest.GetGoalPos(2);
mfajaradityo 4:2df002cf5f6c 82 servoTest.translateLastRPacket();
mfajaradityo 4:2df002cf5f6c 83
mfajaradityo 0:2071f8e463dd 84 wait(1);
mfajaradityo 0:2071f8e463dd 85 servoTest.SetGoalVel(1, 200);
mfajaradityo 0:2071f8e463dd 86 servoTest.translateLastRPacket();
mfajaradityo 2:0ec2dce7c5f8 87 value = servoTest.GetGoalVel(1);
mfajaradityo 0:2071f8e463dd 88 servoTest.translateLastRPacket();
mfajaradityo 0:2071f8e463dd 89
mfajaradityo 4:2df002cf5f6c 90 servoTest.SetGoalVel(2, 1000);
mfajaradityo 4:2df002cf5f6c 91 servoTest.translateLastRPacket();
mfajaradityo 4:2df002cf5f6c 92 value = servoTest.GetGoalVel(2);
mfajaradityo 0:2071f8e463dd 93 servoTest.translateLastRPacket();
mfajaradityo 4:2df002cf5f6c 94
mfajaradityo 4:2df002cf5f6c 95 servoTest.SetGoalPos(1, 2000);
mfajaradityo 4:2df002cf5f6c 96 servoTest.translateLastRPacket(); //Should return error
mfajaradityo 2:0ec2dce7c5f8 97 value = servoTest.GetGoalPos(1);
mfajaradityo 0:2071f8e463dd 98 servoTest.translateLastRPacket();
mfajaradityo 4:2df002cf5f6c 99
mfajaradityo 4:2df002cf5f6c 100 servoTest.SetGoalPos(2, 0);
mfajaradityo 4:2df002cf5f6c 101 servoTest.translateLastRPacket();
mfajaradityo 4:2df002cf5f6c 102 value = servoTest.GetGoalPos(2);
mfajaradityo 4:2df002cf5f6c 103 servoTest.translateLastRPacket();
mfajaradityo 4:2df002cf5f6c 104
mfajaradityo 4:2df002cf5f6c 105 wait(1);
mfajaradityo 0:2071f8e463dd 106 }
mfajaradityo 0:2071f8e463dd 107 }