Diff: main.cpp

Revision:

1:ef90d942ce78

Parent:

0:79e2a8171b16

Child:

4:7ee9ae120e73

--- a/main.cpp	Tue Aug 18 09:15:09 2015 +0000
+++ b/main.cpp	Wed Aug 19 05:36:55 2015 +0000
@@ -1,3 +1,20 @@
+/*****************************************************
+- Description: mbed to Dynamixel connection test using
+    the library
+- Requirements: 
+    Dynamixel (i.e. DX116, RX28)
+    MAX3088/MAX485 (RS485 transceiver)
+- Connections:
+    MAX3088     --  mbed
+    ======================
+    Pin 1       --  Pin 14
+    Pin 2       --  Pin 15
+    Pin 4       --  Pin 13
+    
+- Comments:
+    See schematic for wiring details and class 
+    documentation for available methods.
+*****************************************************/
 #include "mbed.h"
 #include "Dynamixel.h"
 
@@ -8,7 +25,15 @@
     DX116.toggleLED(1);
     wait(0.5);
     DX116.toggleLED(0);
-    DX116.move(0);
+    DX116.setSpeed(0);
+    wait(0.5);
+    DX116.move(0);          // MOVE
     wait(1);
-    DX116.move(1023);
+    DX116.setSpeed(100);
+    wait(0.5);
+    DX116.move(1023);       // MOVE
+    wait(1);
+    DX116.setSpeed(1023);
+    wait(1);
+    DX116.move(0);          // MOVE
 }   
\ No newline at end of file