Diff: main.cpp

Revision:

1:311dbbc3aaa3

Parent:

0:03f84c95f73b

diff -r 03f84c95f73b -r 311dbbc3aaa3 main.cpp
--- a/main.cpp	Thu Feb 16 20:45:33 2017 +0000
+++ b/main.cpp	Thu Feb 16 21:21:09 2017 +0000
@@ -1,100 +1,33 @@
-// Dynamixel Servo Setup Code
-// 
-// Modify the commented lines in main() to setup required servos
+// Dynamixel MX-28 Demo Code
 
 #include "servo.h"
 #include "mbed.h"
 #include "SerialHalfDuplex.h"
 
-#define BASE 10
-#define SHOULDER 11
-#define ELBOW 12
-#define WRIST 13
-
 Serial pc(USBTX,USBRX);
 Servo servo(p9,p10);
 
-void scan_for_servos()
-{
-    pc.printf("Scanning for servos at 57600 baud:\n");
-    servo.SetInitBaud(57600,250);
-    for(int i=0;i<254;i++){
-        int model = servo.GetModelNumber(i);
-        if(model == AX12_MODEL) pc.printf("AX-12 found at ID %d",i);
-        if(model == MX28_MODEL) pc.printf("MX-28 found at ID %d",i);
-    }   
-    wait(0.5);
-    pc.printf("\n\nScanning for servos at 1M baud:\n");
-    servo.SetInitBaud(1000000,50);
-    for(int i=0;i<254;i++){
-        int model = servo.GetModelNumber(i);
-        if(model == AX12_MODEL) pc.printf("AX-12 found at ID %d",i);
-        if(model == MX28_MODEL) pc.printf("MX-28 found at ID %d",i);
-    }   
-    while(1);
-}
-
-void initialise_mx28_servo(int current_address, int target_servo)
-{
-    pc.printf("RUNNING SERVO SETUP ROUTINE FOR SERVO %d\n\n",target_servo);
-
-    // MX-28s default to a baud rate of 57600 with delay time of 500us
-    servo.SetInitBaud(57600, 250);
-    int model = servo.GetModelNumber(current_address);
-    if(model != MX28_MODEL) {
-        pc.printf("Error: No MX-28 servo with ID %d found...\n",current_address);
-        while(1);
-    }
-    pc.printf("\n\nSetting up MX-28 servo to ID %d\n",target_servo);
-    servo.SetID(current_address,target_servo);
-    wait(0.25);
-    pc.printf("Getting servo data:\n");
-    servo.DebugData(target_servo);
-    pc.printf("\n\nDone (check messages above to verify status)\n");
-    while(1);
-}
-
-void initialise_ax12_servo(int current_address, int target_servo)
-{
-    pc.printf("RUNNING SERVO SETUP ROUTINE FOR SERVO %d\n\n",target_servo);
-
-    // AX-12s default to a baud rate of 1M with delay time of 100us
-    servo.SetInitBaud(1000000, 50);
-    int model = servo.GetModelNumber(current_address);
-    if(model != AX12_MODEL) {
-        pc.printf("Error: No AX12 servo with ID %d found...\n",current_address);
-        while(1);
-    }
-    pc.printf("\n\nSetting up AX-12 servo to ID %d\n",target_servo);
-    servo.SetID(current_address,target_servo);
-    wait(0.25);
-    pc.printf("Setting return delay time for servo to 500us\n");
-    servo.SetDelayTime(target_servo,250);
-    wait(0.25);
-    pc.printf("Setting baud rate for servo to 57600\n");
-    servo.SetBaud(target_servo,0x22);
-    wait(0.25);
-    pc.printf("Resetting connecting baud rate\n");
-    servo.SetInitBaud(57600, 250);
-    wait(0.25);
-    pc.printf("Getting servo data:\n");
-    servo.DebugData(target_servo);
-    pc.printf("\n\nDone (check messages above to verify status)\n");
-    while(1);
-}
 int main()
 {
     pc.baud(115200);
-    pc.printf("Dynamixel Servo Setup\n");
-    
-    // To scan for servos, uncomment the following line:
-    //scan_for_servos();
-   
-    // To setup a new MX-28 servo, uncomment the following line and replace first number with current ID and second number with target ID:
-    //initialise_mx28_servo(1,BASE);
-    
-    // To setup a new AX-12 servo, uncomment the following line and replace first number with current ID and second number with target ID:
-    //initialise_ax12_servo(1,WRIST); 
-    
-    pc.printf("Edit the comments in main() to check and program servos.\n");
-}
+    pc.printf("Dynamixel MX-28 Servo Demo\n");
+    int model = servo.GetModelNumber(1);
+    if(model != MX28_MODEL) {
+        pc.printf("Error: No MX-28 servo with ID 1 found...\n");
+        while(1);
+    }
+    while(1){
+        pc.printf("Set servo position to 1024");
+        servo.SetGoal(1,1024,1);
+        wait(1);   
+        pc.printf("Set servo position to 2048");
+        servo.SetGoal(1,2048,1);
+        wait(1); 
+        pc.printf("Set servo position to 3072");
+        servo.SetGoal(1,3072,1);
+        wait(1);   
+        pc.printf("Set servo position to 2048");
+        servo.SetGoal(1,2048,1);
+        wait(1); 
+    }
+}
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