![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
Still Test
Dependencies: DXL_SDK_For_F446RE RobotControl_7Axis Matrix mbed
Diff: main.cpp
- Revision:
- 13:f0f52287352a
- Parent:
- 12:1eeea035bf87
- Child:
- 14:235c64640200
--- a/main.cpp Sat Feb 11 00:23:03 2017 +0800 +++ b/main.cpp Sat Feb 11 13:07:35 2017 +0000 @@ -17,6 +17,8 @@ //==Pin define==// DigitalOut myled(LED1); + +DigitalOut Test(D4,PullDown); Serial pc(SERIAL_TX, SERIAL_RX); DigitalIn mybutton(USER_BUTTON); @@ -26,6 +28,25 @@ unsigned char i=0; //================== + //== Test IK it need 120ms to calculate + //=================== + + DBGMSG(("start")) + float theta[7]={0}; + + myled=1; + rt = IK_7DOF(L1,L2,L3,0,0,0,60,0,0,0,0,0,(float)-DEF_PI*0.5F,theta); + myled=0; + + + for(i=Index_AXIS1;i<MAX_AXIS_NUM;i++) + { + DBGMSG(("X%d=%f,",getMapAxisNO(i),theta[i])) + } + DBGMSG(("\n")) + while(1); + + //================== //==dxl_initialize //=================== rt=dxl_initialize( 1, 1);