Rhino Reimburse / Mbed 2 deprecated XL320_Test

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Dependencies:   mbed

main.cpp

Committer:
mfajaradityo
Date:
2016-02-24
Revision:
0:2071f8e463dd
Child:
2:0ec2dce7c5f8

File content as of revision 0:2071f8e463dd:

#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);            
    }    
}