Basic Functions Of Dynamixel Pro; Turning The Torque On/Off Of Dynamixel Pro - Robotis Dynamixel Pro Quick Start Manual

Quick Start for Dynamixel Pro v1.00b

1.2.2 Basic functions of Dynamixel PRO.

i. Turning the torque On/Off of Dynamixel PRO.
- As explained in 1.1, Dynamixel PRO's Control Table contains Torque Enable
function that controls the torque to be on/off. The address for Torque Enable
function is 562. Torque Enable is has 1 byte assigned.
- Therefore, implement dxl_write_byte function (See 2.4.3)
- The program's entire source is shown below.
main.cpp
#include <stdio.h>
#include <conio.h>
#include "dynamixel.h"
#define COM_PORT_NUM
#define BAUD_RATE_NUM
#define P_TORQUE_ENABLE
#define ID
int main(void)
{
SerialPort sp = {0,0,0,0,0};
SerialPort *Port = &sp;
//Open the port of USB2DXL
if(dxl_initialize(Port, COM_PORT_NUM, BAUD_RATE_NUM) == COMM_RXSUCCESS )
printf("Succeed to open
else
{
printf(
printf(
_getch();
return
}
int ErrorStatus;
int Result;
//Torque ON
printf( "Press any key to turn on the torque...\n"
_getch();
Result = dxl_write_byte(Port, ID, P_TORQUE_ENABLE, 1, &ErrorStatus);
//Torque OFF
printf( "Press any key to turn off the torque...\n"
_getch();
Result = dxl_write_byte(Port, ID, P_TORQUE_ENABLE, 0, &ErrorStatus);
//Close the port of USB2DXL
17
1
562
1 //ID of Dynamixel PRO you use
USB2Dynamixel!\n");
"Failed to open USB2Dynamixel!\n"
"Press any key to terminate...\n"
0;
//Comport Number of USB2DXL
//Baudrate Number of Dynamixel PRO. 1 is 57600 bps
//Address of Torque Enable in Control Table
);
);
);
);
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