Robotis Dynamixel Pro Quick Start Manual page 78

Quick Start for Dynamixel Pro v1.00b
{
if(ErrorStatus != 0 )
else
}
//Torque On
printf( "Torque On...\n"
Result = dxl_write_byte(Port, ID, P_TORQUE_ENABLE, 1, &ErrorStatus);
if( Result != COMM_RXSUCCESS )
{
printf(
printf(
_getch();
return
}
//Change the Goal position
printf("Press any key to change the Goal
_getch();
Result = dxl_write_dword(Port, ID, P_GOAL_POSITION, 0, &ErrorStatus);
if( Result != COMM_RXSUCCESS )
{
printf(
printf(
_getch();
return
}
else
PrintErrorCode(ErrorStatus);
//Close the port of USB2DXL
printf( "Press any key to terminate...\n"
_getch();
dxl_terminate(Port);
return 0;
}
- If the program does not run properly check if the Operating Mode is set to Joint
Mode.
PrintErrorCode(ErrorStatus);
printf("Succeed to chage the homing
);
"Failed to write!\n" );
"Press any key to terminate...\n"
0;
"Failed to write!\n" );
"Press any key to terminate...\n"
0;
offset!\n");
);
Position...\n");
);
);
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