mbed to Dynamixel servo communication.
Dependents: dynamixel_wheel_test
Diff: Dynamixel.cpp
- Revision:
- 2:32377cbec534
- Parent:
- 1:ce081666d225
- Child:
- 3:61785d105315
diff -r ce081666d225 -r 32377cbec534 Dynamixel.cpp --- a/Dynamixel.cpp Wed Aug 19 06:10:52 2015 +0000 +++ b/Dynamixel.cpp Wed Aug 19 06:31:45 2015 +0000 @@ -1,8 +1,6 @@ #include "Dynamixel.h" #include "mbed.h" -Serial pc(USBTX, USBRX); - Dynamixel::Dynamixel(PinName tx, PinName rx, PinName txEnable, uint8_t motorID, int baudrate) : m_link(tx, rx), m_txEnable(txEnable), m_motorID(motorID), m_baudrate(baudrate) { m_link.baud(m_baudrate); @@ -29,11 +27,11 @@ wait_ms(1); // fix this!!! m_txEnable = 0; // Disable Tx / Enable Rx } else { - pc.printf("Dynamixel not writeable\n"); + //pc.printf("Dynamixel not writeable\n"); } wait_ms(10); // fix this!!! if ( m_link.readable() && m_motorID != BROADCAST_ID ) { - for (int i = 0; i<= STATUS_PACKET_LENGTH; i++) { + for (int i = 0; i < STATUS_PACKET_LENGTH; i++) { statusBuffer[i] = m_link.getc(); // Read status packet } } @@ -67,7 +65,7 @@ } wait_ms(10); if ( m_link.readable() && m_motorID != BROADCAST_ID ) { - for (int i = 0; i<= STATUS_PACKET_LENGTH; i++) { + for (int i = 0; i < STATUS_PACKET_LENGTH; i++) { statusBuffer[i] = m_link.getc(); // Read status packet } } @@ -111,7 +109,7 @@ } wait_ms(10); if ( m_link.readable() && m_motorID != BROADCAST_ID ) { - for (int i = 0; i<= STATUS_PACKET_LENGTH; i++) { + for (int i = 0; i < STATUS_PACKET_LENGTH; i++) { statusBuffer[i] = m_link.getc(); // Read status packet } } @@ -155,7 +153,7 @@ } wait_ms(10); if ( m_link.readable() && m_motorID != BROADCAST_ID ) { - for (int i = 0; i<= STATUS_PACKET_LENGTH; i++) { + for (int i = 0; i < STATUS_PACKET_LENGTH; i++) { statusBuffer[i] = m_link.getc(); // Read status packet } }