Robotis Dynamixel Pro Quick Start Manual page 119

Quick Start for Dynamixel Pro v1.00b
The illustration above shows a Dynamixel PRO (blue line) with ID 39 and a baud rate of 1 Mbps (not shown)
via alternative scan command bp. Then, this Dynamixel PRO is set to factory reset except for the ID number
(reset 39 1). The USB-to-Dynamixel is baud rate is set to match the factory –default baudrate of Dynamixel
PRO (command baud 1). Factory –default reset (except ID number) is confirmed by a following scan with the
bp command highlighted in red.
Examples (Linux)
1.4
1.4.1 This section assumes the following:
- 1) USB-to-Dynamixel dongle is registered under ttyUSB0
- 2) Dynamixel PRO device is in factory-default settings
- 3) SDK 2.0 is properly set-up
- 4) Torque Enable (562) is set to 0 (off state)
1.4.2 Initializing USB-to-Dynamixel and Dynamixel PRO
i. Connect (/sdk_20_directory/example/Connect/main.cpp)
- USB-to-Dynamixel is registered under ttyUSB0 in /dev
- To initialize (open port) simply enter its location at the course code.
- Before ending the program USB-to-Dynamixel must be disconnected (close port)
/dxl_sdk-20/example/Connect/main.cpp (partly shown)
...
using namespace DXL_PRO;
int main()
{
Dynamixel DXL("/dev/ttyUSB0");
// open device
if( DXL.Connect() == 0 )
{
printf( "Failed to open USB2Dynamixel!\n"
return 0;
}
else
// must declare location of USB-to-Dynamixel
);
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