Robotis Dynamixel Pro Quick Start Manual page 120

Quick Start for Dynamixel Pro v1.00b
printf( "Succeed to open USB2Dynamixel!\n"
// must close USB-to-Dynamixel before ending
DXL.Disconnect();
return 0;
}
ii. Enabling Dynamixel PRO
- As previously mentioned baud rate of Dynamixel PRO and USB-to-Dynamixel
must match.
- This can be easily achieved by simply setting the value for baud rate.
- After setting matching baud rate wirte commands to EEPROM area can be sent
- Torque Enable must be on to send write commands to the RAM area.
- Read commands can be sent at any time regardless of Torque Enable value.
/dxl_sdk-20/example/TorqueEnable/main.cpp (partly shown)
// declare the following in preprocessor for illustrative purposes
#define TORQUE_ENABLE
#define DEFAULT_BAUDNUM
...
using namespace DXL_PRO;
Dynamixel DXL("/dev/ttyUSB0");
int main()
{
int result, error = 0, On;
// open device
if( DXL.Connect() == 0 )
{
printf( "Failed to open USB2Dynamixel!\n"
return 0;
}
else
printf( "Succeed to open USB2Dynamixel!\n"
// Now verify baudrate USB-to-Dynamixel
if(DXL.SetBaudrate(DEFAULT_BAUDNUM) ==
{
printf( "Succeed to set USB2DXL baudrate to 57600 bps!\n" );
}
else
{
printf( "Failed to set USB2DXL baudrate to 57600 bps!\n" );
printf( "Press any key to end ...\n" );
_getch();
return 0;
}
printf( "Turning Torque Enable on for ID 1\n" );
562
1
// must declare location of USB-to-Dynamixel
// declare arbitrary variables for read commands
);
);
);
true)
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