Diff: main.cpp

Revision:

7:15f0494813f7

Parent:

4:53ef39fbf9d9

Child:

8:37f5a7219fe6

--- a/main.cpp	Wed Feb 08 11:21:26 2017 +0800
+++ b/main.cpp	Wed Feb 08 12:27:32 2017 +0800
@@ -54,10 +54,9 @@
     //dxl_write_byte(3,ADDRESS_LED,0);
     //dxl_ping(3);
     
-   short int pos=0; //16bit
+	short int pos=0; //16bit
     while(1)
     {
-        
 		//pc.printf("before=%d\n",rt);
     
 
@@ -89,6 +88,38 @@
 		  pc.printf("X%d=%d,",i,pos);
 		}
 		pc.printf("\n");
-		wait_ms(500);    
-    }
+		
+
+
+		//====Test syncWrite_u16base===
+		static short int pos3=-100;
+		pos3=(pos3==-100)? 100 :-100;
+
+		short int SyncPage1[21]=
+		{ 
+			ID_AXIS1,100,5,
+			ID_AXIS2,100,5,
+			ID_AXIS3,100,5,
+			ID_AXIS4,100,5,
+			ID_AXIS5,100,5,
+			ID_AXIS6,100,5,
+			ID_AXIS7,100,5,
+		};
+
+		wait(2);    
+		//short int SyncPage1[21]=//Test use
+		//{ 
+		//	0x00,0x010,0x150, // 3 Dynamixels are move to position 512
+		//	0x01,0x020,0x360,
+		//	0x02,0x030,0x170,
+		//	0x03,0x220,0x380,
+		//	0x05,0x123,0x121,
+		//	0x06,0x234,0x143,
+		//	0x07,0x145,0x167
+		//};
+
+
+		syncWrite_u16base(GOAL_POSITION, 2,SyncPage1,21);//start_addr, data_length, *param, param_length;
+	
+	}
 }