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C++ Dynamixel::SyncWrite方法代码示例

本文整理汇总了C++中Dynamixel::SyncWrite方法的典型用法代码示例。如果您正苦于以下问题:C++ Dynamixel::SyncWrite方法的具体用法?C++ Dynamixel::SyncWrite怎么用?C++ Dynamixel::SyncWrite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Dynamixel的用法示例。


在下文中一共展示了Dynamixel::SyncWrite方法的2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: Broadcast

void Broadcast()
{
    unsigned char param[Amount*(1+4)];
    for(int i = 0; i < Amount; i++)
    {
        DXL.WriteByte(Id[i], P_TORQUE_ENABLE, 1, 0);
    }
    int goal=0;
    int GoalPos;
    while(1)
    {
        printf( "Press any key to continue!(press ESC to quit)\n" );
        if(_getch() == 0x1b)
            break;
        do
        {
            // Make syncwrite packet
            for(int i = 0; i < Amount; i++)
            {
                printf("for id=%d,input goalpos\n",Id[i]);
        scanf("%d",&goal);
                GoalPos = (int)(goal);

                param[i*(1+4)+0] = (unsigned char)Id[i];
                param[i*(1+4)+1] = DXL_LOBYTE(DXL_LOWORD(GoalPos));
                param[i*(1+4)+2] = DXL_HIBYTE(DXL_LOWORD(GoalPos));
                param[i*(1+4)+3] = DXL_LOBYTE(DXL_HIWORD(GoalPos));
                param[i*(1+4)+4] = DXL_HIBYTE(DXL_HIWORD(GoalPos));
            }
            printf("%d\n", GoalPos);
            int result = DXL.SyncWrite(P_GOAL_POSITION_LL, 4, param, Amount*(1+4));
            if( result != COMM_RXSUCCESS )
            {
                printf("fail to open serial port!\n");//PrintCommStatus(result);
                break;
            }
            usleep(CONTROL_PERIOD*1000);

        }while(1);
    }
}
开发者ID:Yunaik,项目名称:thu,代码行数:41,代码来源:monitor.cpp

示例2: main

int main()
{
    int id[NUM_ACTUATOR];
    float phase[NUM_ACTUATOR];
    float theta = 0;
    int AmpPos = 150000;
    int GoalPos;
    int i;
    int result;

    // Initialize id and phase
    for( i=0; i < NUM_ACTUATOR; i++ )
    {
        id[i] = i+1;
        phase[i] = 2*PI * (float)i / (float)NUM_ACTUATOR;
    }

    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;
    }

    unsigned char param[NUM_ACTUATOR*(1+4)];

    DXL.WriteByte(1, P_TORQUE_ENABLE, 1, 0);
    DXL.WriteByte(2, P_TORQUE_ENABLE, 1, 0);

    while(1)
    {
        printf( "Press any key to continue!(press ESC to quit)\n" );
        if(_getch() == 0x1b)
            break;

        theta = 0;
        do
        {
            // Make syncwrite packet
            for(i = 0; i < NUM_ACTUATOR; i++)
            {
                GoalPos = (int)((sin(theta+phase[i])) * (double)AmpPos);

                param[i*(1+4)+0] = (unsigned char)id[i];
                param[i*(1+4)+1] = DXL_LOBYTE(DXL_LOWORD(GoalPos));
                param[i*(1+4)+2] = DXL_HIBYTE(DXL_LOWORD(GoalPos));
                param[i*(1+4)+3] = DXL_LOBYTE(DXL_HIWORD(GoalPos));
                param[i*(1+4)+4] = DXL_HIBYTE(DXL_HIWORD(GoalPos));
            }
            printf("%d\n", GoalPos);
            result = DXL.SyncWrite(P_GOAL_POSITION_LL, 4, param, NUM_ACTUATOR*(1+4));
            if( result != COMM_RXSUCCESS )
            {
                PrintCommStatus(result);
                break;
            }
            theta += STEP_THETA;
            usleep(CONTROL_PERIOD*1000);

        }while(theta < 2*PI);
    }

    DXL.Disconnect();
    printf( "Press any key to terminate...\n" );
    _getch();

    return 0;
}
开发者ID:thedancomplex,项目名称:XM-430-example,代码行数:87,代码来源:main.cpp


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