Changing Velocity Of Dynamixel Pro In Wheel Mode - Robotis Dynamixel Pro Quick Start Manual

Quick Start for Dynamixel Pro v1.00b
x. Changing velocity of Dynamixel PRO in Wheel Mode
- On Dynamixel PRO's Control Table the address for Operating Mode is 11. It
requires 1 byte of memory. By changing the value of the Operating Mode
Dynamixel PRO can be set to Joint Mode, Wheel Mode, or Torque Mode,
- Implement dxl_write_byte to change Operating Mode. It is a part of the
EEPROM area so the Torque Enable must be off to modifiy its value.
- Also, as shown in 1.1, Torque Enable needs to be on to activate Dynamixel PRO
in Wheel Mode. The speed of Dynamixel PRO can be controlled by modifying the
Goal_Velocity values.
- The program's entire source code is shown below.
main.cpp
#include <Windows.h>
#include <stdio.h>
#include <conio.h>
#include "dynamixel.h"
#define COM_PORT_NUM
#define BAUD_RATE_NUM
#define P_OPERATING_MODE
#define P_TORQUE_ENABLE
#define P_GOAL_VELOCITY
#define ID
// Print error bit of status packet
void PrintErrorCode(int
{
if(ErrorCode & ERRBIT_VOLTAGE)
printf("Input voltage
if(ErrorCode & ERRBIT_ANGLE)
printf("Angle limit
if(ErrorCode & ERRBIT_OVERHEAT)
printf("Overheat
if(ErrorCode & ERRBIT_RANGE)
printf("Out of range
if(ErrorCode & ERRBIT_CHECKSUM)
printf("Checksum
if(ErrorCode & ERRBIT_OVERLOAD)
printf("Overload
if(ErrorCode & ERRBIT_INSTRUCTION)
printf("Instruction code
17
3
11
562
600
1
ErrorCode)
error!\n");
error!\n");
error!\n");
error!\n");
error!\n");
error!\n");
error!\n");
//Comport Number of USB2DXL
//Baudrate Number of Dynamixel PRO
//Address of Operation Mode in Control Table
//Address of Torque Enable in Control Table
//Address of Goal Velocity in Control Table
//ID of Dynamixel PRO you use
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