Rhino Reimburse / Mbed 2 deprecated Dynamixel_XL320

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Dependencies:   mbed

Fork of XL320_Test by Rhino Reimburse

Diff: main.cpp

Revision:
0:2071f8e463dd
Child:
2:0ec2dce7c5f8
diff -r 000000000000 -r 2071f8e463dd main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Feb 24 10:25:39 2016 +0000
@@ -0,0 +1,65 @@
+#include "mbed.h"
+#include "XL320_MFA.h"
+
+//Serial pc(USBTX, USBRX); // tx, rx
+XL320 servoTest(115200, p9, p10, p8);
+
+uint8_t value = 100;
+
+int main()
+{
+    while(1)
+    {        
+        wait(1);
+                
+        servoTest.TurnOnLED(1, 1);
+        servoTest.TurnOnLED(1, 2);
+        servoTest.TurnOnLED(1, 3);
+        servoTest.TurnOnLED(1, 4);
+        servoTest.TurnOnLED(1, 5);
+        servoTest.TurnOnLED(1, 6);
+        servoTest.TurnOnLED(1, 7); 
+        servoTest.TurnOnLED(1, 8); // should return error message
+        servoTest.translateLastRPacket();
+        
+        servoTest.GetID(1);
+        servoTest.translateLastRPacket();        
+        
+        servoTest.GetBaudRate(1);
+        servoTest.translateLastRPacket();
+        
+        servoTest.GetRetDelTime(1);
+        servoTest.translateLastRPacket();
+        
+        servoTest.GetCWAngLim(1);
+        servoTest.translateLastRPacket();
+        
+        servoTest.GetCCWAngLim(1);
+        servoTest.translateLastRPacket();
+        
+        servoTest.GetContMode(1);
+        servoTest.translateLastRPacket();
+        
+        servoTest.SetGoalVel(1, 1000);
+        servoTest.translateLastRPacket();
+        servoTest.GetGoalVel(1);
+        servoTest.translateLastRPacket();
+        
+        servoTest.SetGoalPos(1, 0);
+        servoTest.translateLastRPacket();
+        servoTest.GetGoalPos(1);
+        servoTest.translateLastRPacket();
+        
+        wait(1);
+        servoTest.SetGoalVel(1, 200);
+        servoTest.translateLastRPacket();
+        servoTest.GetGoalVel(1);
+        servoTest.translateLastRPacket();
+        
+        servoTest.SetGoalPos(1, 1000);
+        servoTest.translateLastRPacket();
+        servoTest.GetGoalPos(1);
+        servoTest.translateLastRPacket();
+        wait(1);            
+    }    
+}
\ No newline at end of file