Diff: main.cpp

Revision:

2:fb9508744bc4

Parent:

0:1780ffc33286

Child:

3:8a9407817ba9

--- a/main.cpp	Tue Feb 07 08:46:10 2017 +0000
+++ b/main.cpp	Tue Feb 07 09:50:51 2017 +0000
@@ -2,7 +2,7 @@
 #include "dynamixel.h"
 
 #define ADDRESS_LED 0x19
-
+#define GOAL_POSITION     30
 
 DigitalOut myled(LED1);
 Serial pc(SERIAL_TX, SERIAL_RX);
@@ -22,19 +22,24 @@
     /**************************
     *** Check communication ***
     **************************/
-    
-    pc.printf("before=%d\n",rt);
-    dxl_write_byte(3,ADDRESS_LED,0);
+    //dxl_write_byte(3,ADDRESS_LED,0);
     //dxl_ping(3);
     
-    pc.printf("after=%d\n",rt);
+   
     while(1)
     {
-        dxl_write_byte(3,ADDRESS_LED,1);
+        
+    pc.printf("before=%d\n",rt);
+    
+        //dxl_write_word(3,GOAL_POSITION,400);
+        setPosition(3,2048,10);
+         pc.printf("after=%d\n",rt);
         //myled = 1; // LED is ON
-        wait(2);
-        dxl_write_byte(3,ADDRESS_LED,0);
+        wait(4);
+        //dxl_write_word(3,GOAL_POSITION,-400);
+        setPosition(3,-2048,10);
         //myled = 0; // LED is ON
-        wait(2);
+        wait(4);
+        
     }
 }
\ No newline at end of file