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main.cpp
00001 #include "mbed.h" 00002 #include "herkulex.h" 00003 00004 // set serial port and baudrate, (mbed <-> HerculexX) 00005 Herkulex sv(p9, p10, 115200); 00006 00007 int main() 00008 { 00009 sv.clear(0xFD); 00010 00011 sv.setTorque(0xFD, TORQUE_ON); 00012 00013 sv.getStatus(0xFD); 00014 00015 sv.getPos(0xFD); 00016 00017 while(1) 00018 { 00019 // POS Mode, +159.8 Degree, 100*11.2ms = 1120ms, Green LED On 00020 sv.positionControl(0xFD, 1002, 100, GLED_ON); 00021 wait(5); 00022 00023 // POS Mode, -159.8 Degree, 100*11.2ms = 1120ms, Blue LED On 00024 sv.positionControl(0xFD, 21, 100, BLED_ON); 00025 wait(5); 00026 00027 // TURN Mode, CCW Turn, Green LED On 00028 sv.velocityControl(0xFD, 1023, GLED_ON); 00029 wait(5); 00030 00031 // TURN Mode, CW Turn, Blue LED On 00032 sv.velocityControl(0xFD, -1023, BLED_ON); 00033 wait(5); 00034 00035 // POS Mode, 0 Degree, 100*11.2ms = 1120ms, Red LED On 00036 sv.positionControl(0xFD, 512, 100, RLED_ON); 00037 wait(5); 00038 00039 // Clear error status 00040 sv.clear(0xFD); 00041 } 00042 }
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