Robotis Dynamixel Pro Quick Start Manual page 88

Quick Start for Dynamixel Pro v1.00b
Table
#define P_INDIRECT_ADDRESS_5
Table
#define P_INDIRECT_ADDRESS_6
Table
#define P_INDIRECT_ADDRESS_7
Table
#define P_INDIRECT_ADDRESS_8
Table
#define P_INDIRECT_ADDRESS_9
Table
#define P_INDIRECT_ADDRESS_10
Table
#define P_INDIRECT_ADDRESS_11
Table
#define P_TORQUE_ENABLE
#define P_GOAL_POSITION
#define P_GOAL_VELOCITY
#define P_GOAL_ACCELERATION
Table
#define P_INDIRECT_DATA_0
#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
}
59
61
63
65
67
69
71
562
596
600
606
634
1
ErrorCode)
error!\n");
error!\n");
error!\n");
error!\n");
error!\n");
error!\n");
error!\n");
//Address of 6th Indirect Address in Control
//Address of 7th Indirect Address in Control
//Address of 8th Indirect Address in Control
//Address of 9th Indirect Address in Control
//Address of 10th Indirect Address in Control
//Address of 11th Indirect Address in Control
//Address of 12th Indirect Address in Control
//Address of Torque Enable in Control Table
//Address of Goal Position in Control Table
//Address of Goal Velocity in Control Table
//Address of Goal Acceleration in Control
//Address of Goal Indirect Data in Control Table
//ID of Dynamixel PRO you use
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