Speedy Retraction Team / Mbed 2 deprecated Nucleo_Dynamixel_18V

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Dependencies:   Dynamixel Protocol Utilities mbed

Fork of Nucleo_Dynamixel_18V by Timofey Ilin

main.cpp@0:9e2ed7d4d2ea, 2016-07-04 (annotated)

Committer:
daemonslayer
Date:
Mon Jul 04 06:09:33 2016 +0000
Revision:
0:9e2ed7d4d2ea
Child:
1:bae7d30014b7
Dynamixel Code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
daemonslayer 0:9e2ed7d4d2ea 1 #include "mbed.h"
daemonslayer 0:9e2ed7d4d2ea 2 #include "Dynamixel.h"
daemonslayer 0:9e2ed7d4d2ea 3 Serial pc(USBTX,USBRX);
daemonslayer 0:9e2ed7d4d2ea 4
daemonslayer 0:9e2ed7d4d2ea 5 int main()
daemonslayer 0:9e2ed7d4d2ea 6 {
daemonslayer 0:9e2ed7d4d2ea 7 uint8_t delayTest;
daemonslayer 0:9e2ed7d4d2ea 8 uint16_t modelNumber;
daemonslayer 0:9e2ed7d4d2ea 9 uint16_t id;
daemonslayer 0:9e2ed7d4d2ea 10 Dynamixel DX116(PA_9, PA_10, PB_3, 1, 57600);
daemonslayer 0:9e2ed7d4d2ea 11 pc.baud(9600);
daemonslayer 0:9e2ed7d4d2ea 12
daemonslayer 0:9e2ed7d4d2ea 13 DX116.toggleLED(1);
daemonslayer 0:9e2ed7d4d2ea 14 wait(1);
daemonslayer 0:9e2ed7d4d2ea 15 DX116.toggleLED(0);
daemonslayer 0:9e2ed7d4d2ea 16 wait(1);
daemonslayer 0:9e2ed7d4d2ea 17 DX116.move(0);
daemonslayer 0:9e2ed7d4d2ea 18 wait(1);
daemonslayer 0:9e2ed7d4d2ea 19 DX116.move(4095);
daemonslayer 0:9e2ed7d4d2ea 20 wait(1);
daemonslayer 0:9e2ed7d4d2ea 21 delayTest = DX116.getReturnDelayTime();
daemonslayer 0:9e2ed7d4d2ea 22 pc.printf("Delay Time: 0x%04x\r\n",delayTest);
daemonslayer 0:9e2ed7d4d2ea 23 wait(1);
daemonslayer 0:9e2ed7d4d2ea 24 modelNumber = DX116.getModelNumber();
daemonslayer 0:9e2ed7d4d2ea 25 pc.printf("Model Number: 0x%04x\r\n",modelNumber);
daemonslayer 0:9e2ed7d4d2ea 26 wait(1);
daemonslayer 0:9e2ed7d4d2ea 27 id = DX116.getId();
daemonslayer 0:9e2ed7d4d2ea 28 pc.printf("ID Number: 0x%04x\r\n",id);
daemonslayer 0:9e2ed7d4d2ea 29
daemonslayer 0:9e2ed7d4d2ea 30 }