本文整理汇总了C++中Dynamixel::Connect方法的典型用法代码示例。如果您正苦于以下问题：C++ Dynamixel::Connect方法的具体用法？C++ Dynamixel::Connect怎么用？C++ Dynamixel::Connect使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类Dynamixel的用法示例。
在下文中一共展示了Dynamixel::Connect方法的3个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: main
int main()
{
int i;
Dynamixel DXL("/dev/ttyUSB0");
//BulkRead bulkread(&DXL);
// Open device
if( DXL.Connect() == 0 )
{
printf( "Failed to open USB2Dynamixel!\n" );
return 0;
}
else
printf( "Succeed to open USB2Dynamixel!\n" );
//Close port of USB2DXL
DXL.Disconnect();
return 0;
}示例2: main
int main(int argc, char *argv[])
{
fprintf(stderr, "\n***********************************************************************\n");
fprintf(stderr, "* DXL Protocol 2.0 Monitor *\n");
fprintf(stderr, "***********************************************************************\n\n");
char *dev = (char*)"/dev/ttyUSB0";
/* parameter parsing */
while(1)
{
int option_index = 0, c = 0;
static struct option long_options[] = {
{"h", no_argument, 0, 0},
{"help", no_argument, 0, 0},
{"d", required_argument, 0, 0},
{"device", required_argument, 0, 0},
{0, 0, 0, 0}
};
/* parsing all parameters according to the list above is sufficent */
c = getopt_long_only(argc, argv, "", long_options, &option_index);
/* no more options to parse */
if(c == -1) break;
/* unrecognized option */
if(c == '?') {
Usage(argv[0]);
return 0;
}
/* dispatch the given options */
switch(option_index) {
/* h, help */
case 0:
case 1:
Usage(argv[0]);
return 0;
break;
/* d, device */
case 2:
case 3:
Usage(argv[0]);
dev = strdup(optarg);
DXL.ComPort->SetPortName(dev);
break;
default:
Usage(argv[0]);
return 0;
}
}
if(DXL.Connect() == false)
{
fprintf(stderr, " Fail to open USB2Dyanmixel! [%s] \n\n", dev);
return 0;
}
char input[128];
char cmd[80];
char param[20][30];
int num_param;
char* token;
while(1)
{
printf("[CMD] ");
gets(input);
fflush(stdin);
if(strlen(input) == 0)
continue;
token = strtok(input, " ");
if(token == 0)
continue;
strcpy(cmd, token);
token = strtok(0, " ");
num_param = 0;
while(token != 0)
{
strcpy(param[num_param++], token);
token = strtok(0, " ");
}
if(strcmp(cmd, "help") == 0 || strcmp(cmd, "h") == 0 || strcmp(cmd, "?") == 0)
{
Help();
}
else if(strcmp(cmd, "ping") == 0)
{
if(num_param == 0)
{
fprintf(stderr, " Invalid parameters! \n");
continue;
}
//.........这里部分代码省略.........
示例3: main
int main()
{
int PresentPos = 0;
int PresentVel = 0;
int index = 0, result = COMM_TXFAIL, error = 0, Moving = 1;
int GoalPos[2] = {-125700, 125700};
int GoalVel[2] = {-8000, 8000};
Dynamixel DXL("/dev/ttyUSB0");
// Open device
if( DXL.Connect() == 0 )
{
printf( "Failed to open USB2Dynamixel!\n" );
printf( "Press any key to terminate...\n" );
_getch();
return 0;
}
else
printf( "Succeed to open USB2Dynamixel!\n" );
if(DXL.SetBaudrate(DEFAULT_BAUDNUM) == true)
{
printf( "Succeed to change the baudrate!\n" );
}
else
{
printf( "Failed to change the baudrate!\n" );
printf( "Press any key to terminate...\n" );
_getch();
return 0;
}
result = DXL.WriteByte(DEFAULT_ID, P_TORQUE_ENABLE, 1, &error);
if(result == COMM_RXSUCCESS)
{
PrintErrorCode(error);
}
else
PrintCommStatus(result);
while(1)
{
printf("Definir Velocidad (-8000,8000) \r\n");
cin>>GoalVel[0];
printf( "Presione Enter para continuar!(presione ESC y Enter para salir)\n" );
if(_getch() == 0x1b)
break;
// Write goal position
//DXL.WriteDWord( DEFAULT_ID, P_GOAL_POSITION_LL, GoalPos[index], &error);
// Write goal Speed
result = DXL.WriteDWord( DEFAULT_ID, P_GOAL_VELOCITY_LL, GoalVel[index], &error);
if(result == COMM_RXSUCCESS)
{
PrintErrorCode(error);
}
else
PrintCommStatus(result);
// Change goal position
/* for(int i=0;i<1;i++)
{
// Read present position
//result = DXL.ReadDWord(DEFAULT_ID, P_PRESENT_POSITION_LL, (long*) &PresentPos, &error);
// Read present Velocity
result = DXL.ReadDWord(DEFAULT_ID, P_PRESENT_VELOCITY_LL, (long*) &PresentVel, &error);
if( result == COMM_RXSUCCESS )
{
printf( "%d %d\n", GoalVel[index], PresentVel );
PrintErrorCode(error);
}
else
{
PrintCommStatus(result);
break;
}
}//while(Moving == 1);*/
// Change goal position
}
// Close device
DXL.Disconnect();
printf( "Press Enter key to terminate...\n" );
_getch();
return 0;
}