Rhino Reimburse / Mbed 2 deprecated XL320_Test

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Dependencies:   mbed

main.cpp@0:2071f8e463dd, 2016-02-24 (annotated)

Committer:
mfajaradityo
Date:
Wed Feb 24 10:25:39 2016 +0000
Revision:
0:2071f8e463dd
Child:
2:0ec2dce7c5f8
Contains a Library for Dynamixel XL320 Servo. Still in progress

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mfajaradityo 0:2071f8e463dd 1 #include "mbed.h"
mfajaradityo 0:2071f8e463dd 2 #include "XL320_MFA.h"
mfajaradityo 0:2071f8e463dd 3
mfajaradityo 0:2071f8e463dd 4 //Serial pc(USBTX, USBRX); // tx, rx
mfajaradityo 0:2071f8e463dd 5 XL320 servoTest(115200, p9, p10, p8);
mfajaradityo 0:2071f8e463dd 6
mfajaradityo 0:2071f8e463dd 7 uint8_t value = 100;
mfajaradityo 0:2071f8e463dd 8
mfajaradityo 0:2071f8e463dd 9 int main()
mfajaradityo 0:2071f8e463dd 10 {
mfajaradityo 0:2071f8e463dd 11 while(1)
mfajaradityo 0:2071f8e463dd 12 {
mfajaradityo 0:2071f8e463dd 13 wait(1);
mfajaradityo 0:2071f8e463dd 14
mfajaradityo 0:2071f8e463dd 15 servoTest.TurnOnLED(1, 1);
mfajaradityo 0:2071f8e463dd 16 servoTest.TurnOnLED(1, 2);
mfajaradityo 0:2071f8e463dd 17 servoTest.TurnOnLED(1, 3);
mfajaradityo 0:2071f8e463dd 18 servoTest.TurnOnLED(1, 4);
mfajaradityo 0:2071f8e463dd 19 servoTest.TurnOnLED(1, 5);
mfajaradityo 0:2071f8e463dd 20 servoTest.TurnOnLED(1, 6);
mfajaradityo 0:2071f8e463dd 21 servoTest.TurnOnLED(1, 7);
mfajaradityo 0:2071f8e463dd 22 servoTest.TurnOnLED(1, 8); // should return error message
mfajaradityo 0:2071f8e463dd 23 servoTest.translateLastRPacket();
mfajaradityo 0:2071f8e463dd 24
mfajaradityo 0:2071f8e463dd 25 servoTest.GetID(1);
mfajaradityo 0:2071f8e463dd 26 servoTest.translateLastRPacket();
mfajaradityo 0:2071f8e463dd 27
mfajaradityo 0:2071f8e463dd 28 servoTest.GetBaudRate(1);
mfajaradityo 0:2071f8e463dd 29 servoTest.translateLastRPacket();
mfajaradityo 0:2071f8e463dd 30
mfajaradityo 0:2071f8e463dd 31 servoTest.GetRetDelTime(1);
mfajaradityo 0:2071f8e463dd 32 servoTest.translateLastRPacket();
mfajaradityo 0:2071f8e463dd 33
mfajaradityo 0:2071f8e463dd 34 servoTest.GetCWAngLim(1);
mfajaradityo 0:2071f8e463dd 35 servoTest.translateLastRPacket();
mfajaradityo 0:2071f8e463dd 36
mfajaradityo 0:2071f8e463dd 37 servoTest.GetCCWAngLim(1);
mfajaradityo 0:2071f8e463dd 38 servoTest.translateLastRPacket();
mfajaradityo 0:2071f8e463dd 39
mfajaradityo 0:2071f8e463dd 40 servoTest.GetContMode(1);
mfajaradityo 0:2071f8e463dd 41 servoTest.translateLastRPacket();
mfajaradityo 0:2071f8e463dd 42
mfajaradityo 0:2071f8e463dd 43 servoTest.SetGoalVel(1, 1000);
mfajaradityo 0:2071f8e463dd 44 servoTest.translateLastRPacket();
mfajaradityo 0:2071f8e463dd 45 servoTest.GetGoalVel(1);
mfajaradityo 0:2071f8e463dd 46 servoTest.translateLastRPacket();
mfajaradityo 0:2071f8e463dd 47
mfajaradityo 0:2071f8e463dd 48 servoTest.SetGoalPos(1, 0);
mfajaradityo 0:2071f8e463dd 49 servoTest.translateLastRPacket();
mfajaradityo 0:2071f8e463dd 50 servoTest.GetGoalPos(1);
mfajaradityo 0:2071f8e463dd 51 servoTest.translateLastRPacket();
mfajaradityo 0:2071f8e463dd 52
mfajaradityo 0:2071f8e463dd 53 wait(1);
mfajaradityo 0:2071f8e463dd 54 servoTest.SetGoalVel(1, 200);
mfajaradityo 0:2071f8e463dd 55 servoTest.translateLastRPacket();
mfajaradityo 0:2071f8e463dd 56 servoTest.GetGoalVel(1);
mfajaradityo 0:2071f8e463dd 57 servoTest.translateLastRPacket();
mfajaradityo 0:2071f8e463dd 58
mfajaradityo 0:2071f8e463dd 59 servoTest.SetGoalPos(1, 1000);
mfajaradityo 0:2071f8e463dd 60 servoTest.translateLastRPacket();
mfajaradityo 0:2071f8e463dd 61 servoTest.GetGoalPos(1);
mfajaradityo 0:2071f8e463dd 62 servoTest.translateLastRPacket();
mfajaradityo 0:2071f8e463dd 63 wait(1);
mfajaradityo 0:2071f8e463dd 64 }
mfajaradityo 0:2071f8e463dd 65 }