Checking The Current Position And Current Velocity Of Dynamixel Pro - Robotis Dynamixel Pro Quick Start Manual

Quick Start for Dynamixel Pro v1.00b
xi. Checking the current position and current velocity of Dynamixel PRO
- There are two methods to check the present position of Dynamixel PRO.
- First, is to implement dxl_read_dword function twice to change the values.
Second, is to implement dxl_read function to simultaneously read the Present
Position and Present Velocity.
- You
dxl_tead_dword, This time implement the second method to change the Goal
Position and Goal Velocity of Dynamixel PRO.
- Both Goal Position and Goal Velocity require 4 bytes.
- Thus, to simultaneously read the Present Position and Present Velocity you need
to modify the data length accordingly.
- Data can be read by entering the data type as shown on the example below.
unsigned char data[8];
dxl_read(Port, ID, P_PRESENT_POSITION, 8, data, &ErrorStatus);
int present_position, present_velocity;
present_position=DXL_MAKEDWORD(DXL_MAKEWORD(data[0],data[1]),DXL_MAKEWORD(da
ta[2],data[3]));
present_velocity=DXL_MAKEDWORD(DXL_MAKEWORD(data[4],data[5]),DXL_MAKEWORD(da
ta[6],data[7]) );
- The
position and velocity with DXL_MAKEWORD, DXL_MAKEDWORD (refer to the
source code above).
- The program's entire source code is shown below.
main.cpp
#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_POSITION
#define P_GOAL_VELOCITY
#define P_PRESENT_POSITION
#define P_PRESENT_VELOCITY
#define ID
// Print error bit of status packet
void PrintErrorCode(int
{
if(ErrorCode & ERRBIT_VOLTAGE)
printf("Input voltage
have gone over
type array data obtained is converted into the present
unsigned char
17
3
11
562
596
600
611
615
1
ErrorCode)
error!\n");
dxl_read_byte,
//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 Position in Control Table
//Address of Goal Velocity in Control Table
//Address of Present Position in Control Table
//Address of Present Velocity in Control Table
//ID of Dynamixel PRO you use
dxl_read_word,
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