Diff: main.cpp

Revision:

4:2df002cf5f6c

Parent:

3:89bed7a6d852

--- a/main.cpp	Thu Feb 25 04:28:14 2016 +0000
+++ b/main.cpp	Sun Feb 28 14:48:03 2016 +0000
@@ -10,33 +10,55 @@
     while(1)
     {        
         wait(1);
-                
+               
         servoTest.TurnOnLED(1, 1);
+        servoTest.TurnOnLED(2, 7);
+        
         servoTest.TurnOnLED(1, 2);
+        servoTest.TurnOnLED(2, 6);
+        
         servoTest.TurnOnLED(1, 3);
+        servoTest.TurnOnLED(2, 5);
+        
         servoTest.TurnOnLED(1, 4);
+        servoTest.TurnOnLED(2, 4);
+        
         servoTest.TurnOnLED(1, 5);
+        servoTest.TurnOnLED(2, 3);
+        
         servoTest.TurnOnLED(1, 6);
-        servoTest.TurnOnLED(1, 7); 
-        servoTest.TurnOnLED(1, 8); // should return error message
+        servoTest.TurnOnLED(2, 2);
+        
+        servoTest.TurnOnLED(1, 7);
+        servoTest.TurnOnLED(2, 1);
+        
+        servoTest.TurnOnLED(2, 8);  // should return error message
+        servoTest.translateLastRPacket(); 
+        servoTest.TurnOnLED(1, 8);  // should return error message
         servoTest.translateLastRPacket();
         
         value = servoTest.GetID(1);
-        servoTest.translateLastRPacket();        
+        servoTest.translateLastRPacket();       
+        value = servoTest.GetID(2);
+        servoTest.translateLastRPacket();
         
         value = servoTest.GetBaudRate(1);
         servoTest.translateLastRPacket();
+        value = servoTest.GetBaudRate(2);
+        servoTest.translateLastRPacket();
         
-        value = servoTest.GetRetDelTime(1);
+        servoTest.SetTorqueEn(1, 0);
+        servoTest.translateLastRPacket();
+        servoTest.SetTorqueEn(2, 0);
         servoTest.translateLastRPacket();
         
-        value = servoTest.GetCWAngLim(1);
+        servoTest.SetContMode(1, 2);    
         servoTest.translateLastRPacket();
-        
-        value = servoTest.GetCCWAngLim(1);
+        servoTest.SetContMode(2, 2);
+        servoTest.translateLastRPacket(); 
+        value = servoTest.GetContMode(1);
         servoTest.translateLastRPacket();
-        
-        value = servoTest.GetContMode(1);
+        value = servoTest.GetContMode(2);
         servoTest.translateLastRPacket();
         
         servoTest.SetGoalVel(1, 1000);
@@ -44,21 +66,42 @@
         value = servoTest.GetGoalVel(1);
         servoTest.translateLastRPacket();
         
+        servoTest.SetGoalVel(2, 200);
+        servoTest.translateLastRPacket();
+        value = servoTest.GetGoalVel(2);
+        servoTest.translateLastRPacket();
+        
         servoTest.SetGoalPos(1, 0);
         servoTest.translateLastRPacket();
         value = servoTest.GetGoalPos(1);
         servoTest.translateLastRPacket();
         
+        servoTest.SetGoalPos(2, 1000);
+        servoTest.translateLastRPacket();
+        value = servoTest.GetGoalPos(2);
+        servoTest.translateLastRPacket();
+        
         wait(1);
         servoTest.SetGoalVel(1, 200);
         servoTest.translateLastRPacket();
         value = servoTest.GetGoalVel(1);
         servoTest.translateLastRPacket();
         
-        servoTest.SetGoalPos(1, 1000);
+        servoTest.SetGoalVel(2, 1000);
+        servoTest.translateLastRPacket();
+        value = servoTest.GetGoalVel(2);
         servoTest.translateLastRPacket();
+        
+        servoTest.SetGoalPos(1, 2000);
+        servoTest.translateLastRPacket();   //Should return error
         value = servoTest.GetGoalPos(1);
         servoTest.translateLastRPacket();
-        wait(1);            
+        
+        servoTest.SetGoalPos(2, 0);
+        servoTest.translateLastRPacket();
+        value = servoTest.GetGoalPos(2);
+        servoTest.translateLastRPacket();
+        
+        wait(1);          
     }    
 }
\ No newline at end of file