Robotis Dynamixel Pro Quick Start Manual page 95

Quick Start for Dynamixel Pro v1.00b
//Set the Indirect Address for Present Temperature
printf("Press any key to set the indirect address for
_getch();
Result = dxl_write_word(Port, ID, P_INDIRECT_ADDRESS_0,
P_PRESENT_TEMPERATURE, &ErrorStatus);
if( Result != COMM_RXSUCCESS )
{
printf(
printf(
_getch();
return
}
else
{
if(ErrorStatus != 0 )
else
}
//Set the Indirect Address for Goal Velocity
printf("Press any key to set the indirect address for present
_getch();
Result = dxl_write_word(Port, ID, P_INDIRECT_ADDRESS_1, P_PRESENT_POSITION,
&ErrorStatus);
Result = dxl_write_word(Port, ID, P_INDIRECT_ADDRESS_2,
P_PRESENT_POSITION+1, &ErrorStatus);
Result = dxl_write_word(Port, ID, P_INDIRECT_ADDRESS_3,
P_PRESENT_POSITION+2, &ErrorStatus);
Result = dxl_write_word(Port, ID, P_INDIRECT_ADDRESS_4,
P_PRESENT_POSITION+3, &ErrorStatus);
if( Result != COMM_RXSUCCESS )
{
printf(
printf(
_getch();
return
}
else
{
if(ErrorStatus != 0 )
else
}
//Torque On
printf( "Torque On...\n"
"Failed to write!\n" );
"Press any key to terminate...\n"
0;
PrintErrorCode(ErrorStatus);
printf("Succeed to set the indirect address for
"Failed to write!\n" );
"Press any key to terminate...\n"
0;
PrintErrorCode(ErrorStatus);
printf("Succeed to set the indirect address for present
);
temperature...\n");
);
temperature!\n");
position...\n");
);
position!\n");
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