Robotis Dynamixel Pro Quick Start Manual page 77

Quick Start for Dynamixel Pro v1.00b
printf("Checksum
if(ErrorCode & ERRBIT_OVERLOAD)
printf("Overload
if(ErrorCode & ERRBIT_INSTRUCTION)
printf("Instruction code
}
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 Result, ErrorStatus;
//Torque Off
printf( "Torque Off...\n"
Result = dxl_write_byte(Port, ID, P_TORQUE_ENABLE, 0, &ErrorStatus);
if( Result != COMM_RXSUCCESS )
{
printf(
printf(
_getch();
return
}
//Change the zero point
printf("Press any key to change the zero
_getch();
Result = dxl_write_dword(Port, ID, P_HOMING_OFFSET, -50000, &ErrorStatus);
if( Result != COMM_RXSUCCESS )
{
printf(
printf(
_getch();
return
}
else
error!\n");
error!\n");
error!\n");
USB2Dynamixel!\n");
"Failed to open USB2Dynamixel!\n"
"Press any key to terminate...\n"
0;
);
"Failed to write!\n" );
"Press any key to terminate...\n"
0;
"Failed to write!\n" );
"Press any key to terminate...\n"
0;
);
);
);
point...\n");
);
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