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Dependencies: mbed ADS1115 StepperMotor SRF05 TPA81new
main.cpp@1:ef90d942ce78, 2015-08-19 (annotated)
- Committer:
- dmgongora
- Date:
- Wed Aug 19 05:36:55 2015 +0000
- Revision:
- 1:ef90d942ce78
- Parent:
- 0:79e2a8171b16
- Child:
- 4:9932af380e56
Added method to set the velocity but it's not working.
Who changed what in which revision?
User | Revision | Line number | New 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 | 1:ef90d942ce78 | 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 | 1:ef90d942ce78 | 13 | |
dmgongora | 1:ef90d942ce78 | 14 | - Comments: |
dmgongora | 1:ef90d942ce78 | 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 | 0:79e2a8171b16 | 21 | int main() |
dmgongora | 0:79e2a8171b16 | 22 | { |
dmgongora | 0:79e2a8171b16 | 23 | Dynamixel DX116(p13, p14, p15, 9, 57600); |
dmgongora | 0:79e2a8171b16 | 24 | |
dmgongora | 0:79e2a8171b16 | 25 | DX116.toggleLED(1); |
dmgongora | 0:79e2a8171b16 | 26 | wait(0.5); |
dmgongora | 0:79e2a8171b16 | 27 | DX116.toggleLED(0); |
dmgongora | 1:ef90d942ce78 | 28 | DX116.setSpeed(0); |
dmgongora | 1:ef90d942ce78 | 29 | wait(0.5); |
dmgongora | 1:ef90d942ce78 | 30 | DX116.move(0); // MOVE |
dmgongora | 0:79e2a8171b16 | 31 | wait(1); |
dmgongora | 1:ef90d942ce78 | 32 | DX116.setSpeed(100); |
dmgongora | 1:ef90d942ce78 | 33 | wait(0.5); |
dmgongora | 1:ef90d942ce78 | 34 | DX116.move(1023); // MOVE |
dmgongora | 1:ef90d942ce78 | 35 | wait(1); |
dmgongora | 1:ef90d942ce78 | 36 | DX116.setSpeed(1023); |
dmgongora | 1:ef90d942ce78 | 37 | wait(1); |
dmgongora | 1:ef90d942ce78 | 38 | DX116.move(0); // MOVE |
dmgongora | 0:79e2a8171b16 | 39 | } |