Rhino Reimburse / Mbed 2 deprecated Dynamixel_XL320

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Dependencies:   mbed

Fork of XL320_Test by Rhino Reimburse

main.cpp

Committer:
mfajaradityo
Date:
2016-02-28
Revision:
4:2df002cf5f6c
Parent:
3:89bed7a6d852

File content as of revision 4:2df002cf5f6c:

//#include "mbed.h"
#include "XL320_MFA.h"

XL320 servoTest(1000000, p9, p10, p8);

uint8_t value = 100;

int main()
{
    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(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();       
        value = servoTest.GetID(2);
        servoTest.translateLastRPacket();
        
        value = servoTest.GetBaudRate(1);
        servoTest.translateLastRPacket();
        value = servoTest.GetBaudRate(2);
        servoTest.translateLastRPacket();
        
        servoTest.SetTorqueEn(1, 0);
        servoTest.translateLastRPacket();
        servoTest.SetTorqueEn(2, 0);
        servoTest.translateLastRPacket();
        
        servoTest.SetContMode(1, 2);    
        servoTest.translateLastRPacket();
        servoTest.SetContMode(2, 2);
        servoTest.translateLastRPacket(); 
        value = servoTest.GetContMode(1);
        servoTest.translateLastRPacket();
        value = servoTest.GetContMode(2);
        servoTest.translateLastRPacket();
        
        servoTest.SetGoalVel(1, 1000);
        servoTest.translateLastRPacket();
        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.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();
        
        servoTest.SetGoalPos(2, 0);
        servoTest.translateLastRPacket();
        value = servoTest.GetGoalPos(2);
        servoTest.translateLastRPacket();
        
        wait(1);          
    }    
}