Indirect Addressing Function Of Dynamixel Pro; Change The Position, Velocity, And Acceleration Using Indirect Address Fucntion - Robotis Dynamixel Pro Quick Start Manual

Quick Start for Dynamixel Pro v1.00b

1.2.4 Indirect Addressing function of Dynamixel PRO

i. Change the position, velocity, and acceleration using Indirect Address fucntion.
- On Dynamixel PRO's Control Table-Goal Position, Goal Velocity, and Goal
Acceleration addresses-are not arranged in consecutive order. Thus, dxl_write
and dxl_write_dword need to be implemented 3 times to change all 3
addresses.
- To resolve this issue, Dynamixel PRO has Indirect Address function.
- Indirect Address assignes another address to the default one.
- For example, Goal Position (#596) address can be assigned another address (#634).
- Start by writing the value of the desired address in the EEPROM area of the
Indirect Address.
- The written value is the default address. Please refer to the source code below
dxl_write_word(Port, ID, P_INDIRECT_ADDRESS_0, P_GOAL_POSITION,
dxl_write_word(Port, ID, P_INDIRECT_ADDRESS_1, P_GOAL_POSITION+1, &ErrorStatus);
dxl_write_word(Port, ID, P_INDIRECT_ADDRESS_2, P_GOAL_POSITION+2, &ErrorStatus);
dxl_write_word(Port, ID, P_INDIRECT_ADDRESS_3, P_GOAL_POSITION+3, &ErrorStatus);
dxl_write_word(Port, ID, P_INDIRECT_ADDRESS_4, P_GOAL_VELOCITY,
dxl_write_word(Port, ID, P_INDIRECT_ADDRESS_5, P_GOAL_VELOCITY+1, &ErrorStatus);
dxl_write_word(Port, ID, P_INDIRECT_ADDRESS_6, P_GOAL_VELOCITY+2, &ErrorStatus);
dxl_write_word(Port, ID, P_INDIRECT_ADDRESS_7, P_GOAL_VELOCITY+3, &ErrorStatus);
dxl_write_word(Port, ID, P_INDIRECT_ADDRESS_8, P_GOAL_ACCELERATION,
&ErrorStatus);
dxl_write_word(Port, ID, P_INDIRECT_ADDRESS_9, P_GOAL_ACCELERATION+1,
&ErrorStatus);
dxl_write_word(Port, ID, P_INDIRECT_ADDRESS_10, P_GOAL_ACCELERATION+2,
&ErrorStatus);
dxl_write_word(Port, ID, P_INDIRECT_ADDRESS_11, P_GOAL_ACCELERATION+3,
&ErrorStatus);
- 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_INDIRECT_ADDRESS_0
Table
#define P_INDIRECT_ADDRESS_1
Table
#define P_INDIRECT_ADDRESS_2
Table
#define P_INDIRECT_ADDRESS_3
Table
#define P_INDIRECT_ADDRESS_4
17 //Comport Number of USB2DXL
3 //Baudrate Number of Dynamixel PRO
49 //Address of 1st Indirect Address in Control
51 //Address of 2nd Indirect Address in Control
53 //Address of 3rd Indirect Address in Control
55 //Address of 4th Indirect Address in Control
57 //Address of 5th Indirect Address in Control
&ErrorStatus);
&ErrorStatus);
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