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Still Test
Dependencies: DXL_SDK_For_F446RE RobotControl_7Axis Matrix mbed
main.cpp@2:fb9508744bc4, 2017-02-07 (annotated)
- Committer:
- stanley1228
- Date:
- Tue Feb 07 09:50:51 2017 +0000
- Revision:
- 2:fb9508744bc4
- Parent:
- 0:1780ffc33286
- Child:
- 3:8a9407817ba9
dxl_write_word(3,GOAL_POSITION,400); //Testok; setPosition(3,2048,10);//Testok
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 | 0:1780ffc33286 | 20 | myled = 0; // LED is ON |
stanley1228 | 0:1780ffc33286 | 21 | |
stanley1228 | 0:1780ffc33286 | 22 | /************************** |
stanley1228 | 0:1780ffc33286 | 23 | *** Check communication *** |
stanley1228 | 0:1780ffc33286 | 24 | **************************/ |
stanley1228 | 2:fb9508744bc4 | 25 | //dxl_write_byte(3,ADDRESS_LED,0); |
stanley1228 | 0:1780ffc33286 | 26 | //dxl_ping(3); |
stanley1228 | 0:1780ffc33286 | 27 | |
stanley1228 | 2:fb9508744bc4 | 28 | |
stanley1228 | 0:1780ffc33286 | 29 | while(1) |
stanley1228 | 0:1780ffc33286 | 30 | { |
stanley1228 | 2:fb9508744bc4 | 31 | |
stanley1228 | 2:fb9508744bc4 | 32 | pc.printf("before=%d\n",rt); |
stanley1228 | 2:fb9508744bc4 | 33 | |
stanley1228 | 2:fb9508744bc4 | 34 | //dxl_write_word(3,GOAL_POSITION,400); |
stanley1228 | 2:fb9508744bc4 | 35 | setPosition(3,2048,10); |
stanley1228 | 2:fb9508744bc4 | 36 | pc.printf("after=%d\n",rt); |
stanley1228 | 0:1780ffc33286 | 37 | //myled = 1; // LED is ON |
stanley1228 | 2:fb9508744bc4 | 38 | wait(4); |
stanley1228 | 2:fb9508744bc4 | 39 | //dxl_write_word(3,GOAL_POSITION,-400); |
stanley1228 | 2:fb9508744bc4 | 40 | setPosition(3,-2048,10); |
stanley1228 | 0:1780ffc33286 | 41 | //myled = 0; // LED is ON |
stanley1228 | 2:fb9508744bc4 | 42 | wait(4); |
stanley1228 | 2:fb9508744bc4 | 43 | |
stanley1228 | 0:1780ffc33286 | 44 | } |
stanley1228 | 0:1780ffc33286 | 45 | } |