Robotis Dynamixel Pro Quick Start Manual page 90

Quick Start for Dynamixel Pro v1.00b
else
}
//Set the Indirect Address for Goal Velocity
printf("Press any key to set the indirect address for goal
_getch();
Result = dxl_write_word(Port, ID, P_INDIRECT_ADDRESS_4, P_GOAL_VELOCITY,
&ErrorStatus);
Result = dxl_write_word(Port, ID, P_INDIRECT_ADDRESS_5, P_GOAL_VELOCITY+1,
&ErrorStatus);
Result = dxl_write_word(Port, ID, P_INDIRECT_ADDRESS_6, P_GOAL_VELOCITY+2,
&ErrorStatus);
Result = dxl_write_word(Port, ID, P_INDIRECT_ADDRESS_7, P_GOAL_VELOCITY+3,
&ErrorStatus);
if( Result != COMM_RXSUCCESS )
{
printf(
printf(
_getch();
return
}
else
{
if(ErrorStatus != 0 )
else
}
//Set the Indirect Address for Goal Acceleration
printf("Press any key to set the indirect address for goal
_getch();
Result = dxl_write_word(Port, ID, P_INDIRECT_ADDRESS_8,
P_GOAL_ACCELERATION,
Result = dxl_write_word(Port, ID, P_INDIRECT_ADDRESS_9,
P_GOAL_ACCELERATION+1, &ErrorStatus);
Result = dxl_write_word(Port, ID, P_INDIRECT_ADDRESS_10,
P_GOAL_ACCELERATION+2, &ErrorStatus);
Result = dxl_write_word(Port, ID, P_INDIRECT_ADDRESS_11,
P_GOAL_ACCELERATION+3, &ErrorStatus);
if( Result != COMM_RXSUCCESS )
{
printf(
printf(
_getch();
return
}
else
PrintErrorCode(ErrorStatus);
printf("Succeed to set the indirect address for goal
"Failed to write!\n" );
"Press any key to terminate...\n"
0;
PrintErrorCode(ErrorStatus);
printf("Succeed to set the indirect address for goal
&ErrorStatus);
"Failed to write!\n" );
"Press any key to terminate...\n"
0;
position!\n");
velocity...\n");
);
velocity!\n");
acceleration...\n");
);
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