Dan Gongora / Mbed 2 deprecated dynamixel_wheel_test

Tested on MX-28

Dependencies:   Dynamixel mbed

Fork of dynamixel_test by Dan Gongora

main.cpp@4:7ee9ae120e73, 2015-10-25 (annotated)

Committer:
dmgongora
Date:
Sun Oct 25 05:41:42 2015 +0000
Revision:
4:7ee9ae120e73
Parent:
1:ef90d942ce78 
Wheel mode working example

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dmgongora 1:ef90d942ce78 1 /*****************************************************
dmgongora 1:ef90d942ce78 2 - Description: mbed to Dynamixel connection test using
dmgongora 1:ef90d942ce78 3 the library
dmgongora 4:7ee9ae120e73 4 - Requirements:
dmgongora 1:ef90d942ce78 5 Dynamixel (i.e. DX116, RX28)
dmgongora 1:ef90d942ce78 6 MAX3088/MAX485 (RS485 transceiver)
dmgongora 1:ef90d942ce78 7 - Connections:
dmgongora 1:ef90d942ce78 8 MAX3088 -- mbed
dmgongora 1:ef90d942ce78 9 ======================
dmgongora 1:ef90d942ce78 10 Pin 1 -- Pin 14
dmgongora 1:ef90d942ce78 11 Pin 2 -- Pin 15
dmgongora 1:ef90d942ce78 12 Pin 4 -- Pin 13
dmgongora 4:7ee9ae120e73 13
dmgongora 1:ef90d942ce78 14 - Comments:
dmgongora 4:7ee9ae120e73 15 See schematic for wiring details and class
dmgongora 1:ef90d942ce78 16 documentation for available methods.
dmgongora 1:ef90d942ce78 17 *****************************************************/
dmgongora 0:79e2a8171b16 18 #include "mbed.h"
dmgongora 0:79e2a8171b16 19 #include "Dynamixel.h"
dmgongora 0:79e2a8171b16 20
dmgongora 4:7ee9ae120e73 21 DigitalOut debug1(LED1);
dmgongora 4:7ee9ae120e73 22 DigitalOut debug2(LED2);
dmgongora 4:7ee9ae120e73 23 DigitalOut debug3(LED3);
dmgongora 4:7ee9ae120e73 24 DigitalOut debug4(LED4);
dmgongora 0:79e2a8171b16 25 int main()
dmgongora 0:79e2a8171b16 26 {
dmgongora 4:7ee9ae120e73 27 debug1 = 0;
dmgongora 4:7ee9ae120e73 28 debug2 = 0;
dmgongora 4:7ee9ae120e73 29 debug3 = 0;
dmgongora 4:7ee9ae120e73 30 debug4 = 0;
dmgongora 4:7ee9ae120e73 31 Dynamixel motor2(p13, p14, p15, 1, 57600); // TX, RX, TX_ENABLE, MOTOR_ID, BD
dmgongora 4:7ee9ae120e73 32
dmgongora 4:7ee9ae120e73 33 /**************************
dmgongora 4:7ee9ae120e73 34 *** Check communication ***
dmgongora 4:7ee9ae120e73 35 **************************/
dmgongora 4:7ee9ae120e73 36 motor2.toggleLED(1);
dmgongora 0:79e2a8171b16 37 wait(1);
dmgongora 4:7ee9ae120e73 38 motor2.toggleLED(0);
dmgongora 4:7ee9ae120e73 39 /**************************
dmgongora 4:7ee9ae120e73 40 ***** Set max angles *****
dmgongora 4:7ee9ae120e73 41 **************************/
dmgongora 4:7ee9ae120e73 42 motor2.setAngleLimit(0, ADDRESS_CW_ANGLE_LIMIT);
dmgongora 4:7ee9ae120e73 43 wait(0.5);
dmgongora 4:7ee9ae120e73 44 motor2.setAngleLimit(0, ADDRESS_CCW_ANGLE_LIMIT);
dmgongora 1:ef90d942ce78 45 wait(0.5);
dmgongora 4:7ee9ae120e73 46 /**************************
dmgongora 4:7ee9ae120e73 47 ******** Set speed ********
dmgongora 4:7ee9ae120e73 48 **************************/
dmgongora 4:7ee9ae120e73 49 motor2.setSpeed(50); // 0-1023 CW
dmgongora 4:7ee9ae120e73 50 debug1 = 1;
dmgongora 4:7ee9ae120e73 51 wait(2);
dmgongora 4:7ee9ae120e73 52 motor2.setSpeed(2000); // 1024-2047 CCW
dmgongora 4:7ee9ae120e73 53 wait(2);
dmgongora 4:7ee9ae120e73 54 debug2 = 1;
dmgongora 4:7ee9ae120e73 55 motor2.setSpeed(0);
dmgongora 4:7ee9ae120e73 56 }