![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
Still Test
Dependencies: DXL_SDK_For_F446RE RobotControl_7Axis Matrix mbed
main.cpp@3:8a9407817ba9, 2017-02-08 (annotated)
- Committer:
- stanley1228
- Date:
- Wed Feb 08 00:11:41 2017 +0800
- Revision:
- 3:8a9407817ba9
- Parent:
- 2:fb9508744bc4
- Child:
- 4:53ef39fbf9d9
1.change hal_timeout
2.test getpos for 1 motor ok
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
stanley1228 | 0:1780ffc33286 | 1 | #include "mbed.h" |
stanley1228 | 0:1780ffc33286 | 2 | #include "dynamixel.h" |
stanley1228 | 0:1780ffc33286 | 3 | |
stanley1228 | 0:1780ffc33286 | 4 | #define ADDRESS_LED 0x19 |
stanley1228 | 2:fb9508744bc4 | 5 | #define GOAL_POSITION 30 |
stanley1228 | 0:1780ffc33286 | 6 | |
stanley1228 | 0:1780ffc33286 | 7 | DigitalOut myled(LED1); |
stanley1228 | 0:1780ffc33286 | 8 | Serial pc(SERIAL_TX, SERIAL_RX); |
stanley1228 | 0:1780ffc33286 | 9 | |
stanley1228 | 0:1780ffc33286 | 10 | |
stanley1228 | 0:1780ffc33286 | 11 | int main() |
stanley1228 | 0:1780ffc33286 | 12 | { |
stanley1228 | 0:1780ffc33286 | 13 | int rt =0; |
stanley1228 | 0:1780ffc33286 | 14 | |
stanley1228 | 0:1780ffc33286 | 15 | pc.printf("start\n",rt); |
stanley1228 | 0:1780ffc33286 | 16 | |
stanley1228 | 0:1780ffc33286 | 17 | rt=dxl_initialize( 1, 1); |
stanley1228 | 0:1780ffc33286 | 18 | pc.printf("dxl_initialize rt=%d\n",rt); |
stanley1228 | 0:1780ffc33286 | 19 | |
stanley1228 | 3:8a9407817ba9 | 20 | int nnn=-100; |
stanley1228 | 3:8a9407817ba9 | 21 | pc.printf("nnn=%d\n",nnn); |
stanley1228 | 3:8a9407817ba9 | 22 | |
stanley1228 | 3:8a9407817ba9 | 23 | nnn=-1000; |
stanley1228 | 3:8a9407817ba9 | 24 | pc.printf("nnn=%d\n",nnn); |
stanley1228 | 0:1780ffc33286 | 25 | myled = 0; // LED is ON |
stanley1228 | 0:1780ffc33286 | 26 | |
stanley1228 | 0:1780ffc33286 | 27 | /************************** |
stanley1228 | 0:1780ffc33286 | 28 | *** Check communication *** |
stanley1228 | 0:1780ffc33286 | 29 | **************************/ |
stanley1228 | 2:fb9508744bc4 | 30 | //dxl_write_byte(3,ADDRESS_LED,0); |
stanley1228 | 0:1780ffc33286 | 31 | //dxl_ping(3); |
stanley1228 | 0:1780ffc33286 | 32 | |
stanley1228 | 3:8a9407817ba9 | 33 | short int pos=0; //16bit |
stanley1228 | 0:1780ffc33286 | 34 | while(1) |
stanley1228 | 0:1780ffc33286 | 35 | { |
stanley1228 | 2:fb9508744bc4 | 36 | |
stanley1228 | 3:8a9407817ba9 | 37 | //pc.printf("before=%d\n",rt); |
stanley1228 | 2:fb9508744bc4 | 38 | |
stanley1228 | 2:fb9508744bc4 | 39 | //dxl_write_word(3,GOAL_POSITION,400); |
stanley1228 | 3:8a9407817ba9 | 40 | //setPosition(3,2048,10); |
stanley1228 | 3:8a9407817ba9 | 41 | //pc.printf("after=%d\n",rt); |
stanley1228 | 0:1780ffc33286 | 42 | //myled = 1; // LED is ON |
stanley1228 | 3:8a9407817ba9 | 43 | //wait(4); |
stanley1228 | 2:fb9508744bc4 | 44 | //dxl_write_word(3,GOAL_POSITION,-400); |
stanley1228 | 3:8a9407817ba9 | 45 | //setPosition(3,-2048,10); |
stanley1228 | 0:1780ffc33286 | 46 | //myled = 0; // LED is ON |
stanley1228 | 3:8a9407817ba9 | 47 | //wait(4); |
stanley1228 | 3:8a9407817ba9 | 48 | |
stanley1228 | 3:8a9407817ba9 | 49 | pos=dxl_read_word(3,PRESENT_POS); |
stanley1228 | 3:8a9407817ba9 | 50 | pc.printf("pos=%d\n",pos); |
stanley1228 | 3:8a9407817ba9 | 51 | wait_ms(200); |
stanley1228 | 3:8a9407817ba9 | 52 | |
stanley1228 | 2:fb9508744bc4 | 53 | |
stanley1228 | 0:1780ffc33286 | 54 | } |
stanley1228 | 0:1780ffc33286 | 55 | } |