Yusuke Okino / Mbed 2 deprecated dynamixel_servo_controller

Dynamixel servo controller. This program consists of 2 parts: "dynamixel_servo_controller.cpp/.h" and "main.cpp"( demo program ).

Dependencies:   mbed

Fork of dynamixel_servo_controller by Yusuke Okino

main.cpp@2:92f3aa5245dc, 2018-06-13 (annotated)

Committer:
PicYusuke
Date:
Wed Jun 13 08:31:51 2018 +0000
Revision:
2:92f3aa5245dc
Parent:
1:2c82c636c43e 
Separated into 3 files.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
PicYusuke 1:2c82c636c43e 1 /*
PicYusuke 1:2c82c636c43e 2 * Copyright (c) 2018 Yusuke Okino
PicYusuke 1:2c82c636c43e 3
PicYusuke 1:2c82c636c43e 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
PicYusuke 1:2c82c636c43e 5 * of this software and associated documentation files (the "Software"), to deal
PicYusuke 1:2c82c636c43e 6 * in the Software without restriction, including without limitation the rights
PicYusuke 1:2c82c636c43e 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
PicYusuke 1:2c82c636c43e 8 * copies of the Software, and to permit persons to whom the Software is
PicYusuke 1:2c82c636c43e 9 * furnished to do so, subject to the following conditions:
PicYusuke 1:2c82c636c43e 10
PicYusuke 1:2c82c636c43e 11 * The above copyright notice and this permission notice shall be included in all
PicYusuke 1:2c82c636c43e 12 * copies or substantial portions of the Software.
PicYusuke 1:2c82c636c43e 13
PicYusuke 1:2c82c636c43e 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
PicYusuke 1:2c82c636c43e 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
PicYusuke 1:2c82c636c43e 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
PicYusuke 1:2c82c636c43e 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
PicYusuke 1:2c82c636c43e 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
PicYusuke 1:2c82c636c43e 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
PicYusuke 1:2c82c636c43e 20 * SOFTWARE.
PicYusuke 0:c9df5db1b525 21 */
PicYusuke 0:c9df5db1b525 22
PicYusuke 2:92f3aa5245dc 23 #include "dynamixel_servo_controller.h"
PicYusuke 0:c9df5db1b525 24
PicYusuke 0:c9df5db1b525 25 int main()
PicYusuke 0:c9df5db1b525 26 {
PicYusuke 0:c9df5db1b525 27 const uint8_t servo_id = 0x01;
PicYusuke 2:92f3aa5245dc 28
PicYusuke 1:2c82c636c43e 29 dynamixel_servo_v2::XM430 xm430(PA_9, PA_10);
PicYusuke 1:2c82c636c43e 30
PicYusuke 1:2c82c636c43e 31 xm430.Torque_ON(servo_id);
PicYusuke 2:92f3aa5245dc 32
PicYusuke 1:2c82c636c43e 33 // 少し待つ処理が必要( サーボからの返答を受信する処理を入れたら不要になる )
PicYusuke 1:2c82c636c43e 34 #ifdef MBED_ENVIRONMENT
PicYusuke 1:2c82c636c43e 35 wait(0.1);
PicYusuke 1:2c82c636c43e 36 #endif
PicYusuke 0:c9df5db1b525 37
PicYusuke 0:c9df5db1b525 38 xm430.Set_Pos(servo_id, 999);
PicYusuke 1:2c82c636c43e 39
PicYusuke 1:2c82c636c43e 40
PicYusuke 1:2c82c636c43e 41 #ifdef MBED_ENVIRONMENT
PicYusuke 1:2c82c636c43e 42 while(1)
PicYusuke 1:2c82c636c43e 43 {
PicYusuke 1:2c82c636c43e 44
PicYusuke 1:2c82c636c43e 45 }
PicYusuke 1:2c82c636c43e 46 #endif
PicYusuke 0:c9df5db1b525 47
PicYusuke 0:c9df5db1b525 48 return 0;
PicYusuke 1:2c82c636c43e 49 }
PicYusuke 1:2c82c636c43e 50
PicYusuke 1:2c82c636c43e 51