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Still Test
Dependencies: DXL_SDK_For_F446RE RobotControl_7Axis Matrix mbed
main.cpp
- Committer:
- stanley1228
- Date:
- 2017-02-08
- Revision:
- 4:53ef39fbf9d9
- Parent:
- 3:8a9407817ba9
- Child:
- 7:15f0494813f7
File content as of revision 4:53ef39fbf9d9:
#include "mbed.h" #include "dynamixel.h" //stanley robot test define// enum{ ID_AXIS1=1, ID_AXIS2, ID_AXIS3, ID_AXIS4, ID_AXIS5, ID_AXIS6, ID_AXIS7 }; #define MAX_AXIS_NUM 7 #define AXIS1_PULSE_LIM_L (-910) #define AXIS1_PULSE_LIM_H 2048 #define AXIS2_PULSE_LIM_L (-205) #define AXIS2_PULSE_LIM_H 2048 #define AXIS3_PULSE_LIM_L (-2840) #define AXIS3_PULSE_LIM_H 1190 #define AXIS4_PULSE_LIM_L 0//need to test #define AXIS4_PULSE_LIM_H 0//need to test #define AXIS5_PULSE_LIM_L (-2048) #define AXIS5_PULSE_LIM_H 1680 #define AXIS6_PULSE_LIM_L (-680) #define AXIS6_PULSE_LIM_H 1024 #define AXIS7_PULSE_LIM_L (-420) #define AXIS7_PULSE_LIM_H 420 DigitalOut myled(LED1); Serial pc(SERIAL_TX, SERIAL_RX); int main() { int rt =0; pc.printf("start\n",rt); rt=dxl_initialize( 1, 1); pc.printf("dxl_initialize rt=%d\n",rt); myled = 0; // LED is ON /************************** *** Check communication *** **************************/ //dxl_write_byte(3,ADDRESS_LED,0); //dxl_ping(3); short int pos=0; //16bit while(1) { //pc.printf("before=%d\n",rt); //===Test move //dxl_write_word(3,GOAL_POSITION,400); //setPosition(3,2048,10); //pc.printf("after=%d\n",rt); //myled = 1; // LED is ON //wait(4); //dxl_write_word(3,GOAL_POSITION,-400); //setPosition(3,-2048,10); //myled = 0; // LED is ON //wait(4); //===Test read pos====// /*pos=dxl_read_word(3,PRESENT_POS); pc.printf("pos=%d\n",pos); wait_ms(200); */ //====Test read all pos=== int i=0; for(i=ID_AXIS1;i<=ID_AXIS7;i++) { pos = dxl_read_word(i, PRESENT_POS); if(dxl_get_result()!=COMM_RXSUCCESS) pos=-1; pc.printf("X%d=%d,",i,pos); } pc.printf("\n"); wait_ms(500); } }