Robotis Dynamixel Pro Quick Start Manual page 101

Quick Start for Dynamixel Pro v1.00b
COMM_RXSUCCESS )
printf("Succeed to open
else
{
printf(
printf(
_getch();
return
}
int Result;
unsigned char
//Torque ON
printf("Torque
param[0] = ID_1;
param[1] = 1;
param[2] = ID_2;
param[3] = 1;
param[4] = ID_3;
param[5] = 1;
Result = dxl_sync_write(Port, P_TORQUE_ENABLE, 1, param, 6);
if( Result != COMM_RXSUCCESS )
{
printf(
printf(
_getch();
return
}
param[0] = ID_1;
param[1] = DXL_LOBYTE(DXL_LOWORD(100000));
param[2] = DXL_HIBYTE(DXL_LOWORD(100000));
param[3] = DXL_LOBYTE(DXL_HIWORD(100000));
param[4] = DXL_HIBYTE(DXL_HIWORD(100000));
param[5] = ID_2;
param[6] = DXL_LOBYTE(DXL_LOWORD(50000));
param[7] = DXL_HIBYTE(DXL_LOWORD(50000));
param[8] = DXL_LOBYTE(DXL_HIWORD(50000));
param[9] = DXL_HIBYTE(DXL_HIWORD(50000));
param[10]= ID_3;
param[11]= DXL_LOBYTE(DXL_LOWORD(-80000));
param[12]= DXL_HIBYTE(DXL_LOWORD(-80000));
param[13]= DXL_LOBYTE(DXL_HIWORD(-80000));
param[14]= DXL_HIBYTE(DXL_HIWORD(-80000));
printf( "Press any to change goal position...\n"
_getch();
Result = dxl_sync_write(Port, P_GOAL_POSITION, 4, param, 15);
if( Result != COMM_RXSUCCESS )
USB2Dynamixel!\n");
"Failed to open USB2Dynamixel!\n"
"Press any key to terminate...\n"
0;
param[15];
On\n");
"Failed to write!\n" );
"Press any key to terminate...\n"
0;
);
);
);
);
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