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*
* Created on: 2016. 5. 16.
* Author: leon
*/
//
// ********* Sync Read and Sync Write Example *********
//
//
// Available Dynamixel model on this example : All models using Protocol 2.0
// This example is designed for using two Dynamixel PRO 54-200, and an USB2DYNAMIXEL.
// To use another Dynamixel model, such as X series, see their details in E-Manual(support.robotis.com) and edit below "#define"d variables yourself.
// Be sure that Dynamixel PRO properties are already set as %% ID : 1 / Baudnum : 3 (Baudrate : 1000000 [1M])
//
#ifdef __linux__
#include <unistd.h>
#include <fcntl.h>
#include <termios.h>
#elif defined(_WIN32) || defined(_WIN64)
#include <conio.h>
#endif
#include <stdlib.h>
#include <stdio.h>
#include "DynamixelSDK.h" // Uses Dynamixel SDK library
// Control table address
#define ADDR_PRO_TORQUE_ENABLE 562 // Control table address is different in Dynamixel model
#define ADDR_PRO_GOAL_POSITION 596
#define ADDR_PRO_PRESENT_POSITION 611
// Data Byte Length
#define LEN_PRO_GOAL_POSITION 4
#define LEN_PRO_PRESENT_POSITION 4
// Protocol version
#define PROTOCOL_VERSION 2.0 // See which protocol version is used in the Dynamixel
// Default setting
#define DXL1_ID 1 // Dynamixel#1 ID: 1
#define DXL2_ID 2 // Dynamixel#2 ID: 2
#define BAUDRATE 1000000
#define DEVICENAME "/dev/ttyUSB0" // Check which port is being used on your controller
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#define TORQUE_ENABLE 1 // Value for enabling the torque
#define TORQUE_DISABLE 0 // Value for disabling the torque
#define DXL_MINIMUM_POSITION_VALUE -150000 // Dynamixel will rotate between this value
#define DXL_MAXIMUM_POSITION_VALUE 150000 // and this value (note that the Dynamixel would not move when the position value is out of movable range. Check e-manual about the range of the Dynamixel you use.)
#define DXL_MOVING_STATUS_THRESHOLD 20 // Dynamixel moving status threshold
#define ESC_ASCII_VALUE 0x1b
#ifdef __linux__
int _getch()
{
struct termios oldt, newt;
int ch;
tcgetattr(STDIN_FILENO, &oldt);
newt = oldt;
newt.c_lflag &= ~(ICANON | ECHO);
tcsetattr(STDIN_FILENO, TCSANOW, &newt);
ch = getchar();
tcsetattr(STDIN_FILENO, TCSANOW, &oldt);
return ch;
}
int _kbhit(void)
{
struct termios oldt, newt;
int ch;
int oldf;
tcgetattr(STDIN_FILENO, &oldt);
newt = oldt;
newt.c_lflag &= ~(ICANON | ECHO);
tcsetattr(STDIN_FILENO, TCSANOW, &newt);
oldf = fcntl(STDIN_FILENO, F_GETFL, 0);
fcntl(STDIN_FILENO, F_SETFL, oldf | O_NONBLOCK);
ch = getchar();
tcsetattr(STDIN_FILENO, TCSANOW, &oldt);
fcntl(STDIN_FILENO, F_SETFL, oldf);
if (ch != EOF)
{
ungetc(ch, stdin);
return 1;
}
return 0;
}
#endif
int main()
{
// Initialize PortHandler Structs
// Set the port path
// Get methods and members of PortHandlerLinux or PortHandlerWindows
int port_num = PortHandler(DEVICENAME);
// Initialize PacketHandler Structs
PacketHandler();
// Initialize Groupsyncwrite Structs
int groupwrite_num = GroupSyncWrite(port_num, PROTOCOL_VERSION, ADDR_PRO_GOAL_POSITION, LEN_PRO_GOAL_POSITION);
// Initialize Groupsyncread Structs for Present Position
int groupread_num = GroupSyncRead(port_num, PROTOCOL_VERSION, ADDR_PRO_PRESENT_POSITION, LEN_PRO_PRESENT_POSITION);
int index = 0;
int dxl_comm_result = COMM_TX_FAIL; // Communication result
bool dxl_addparam_result = false; // AddParam result
bool dxl_getdata_result = false; // GetParam result
int dxl_goal_position[2] = { DXL_MINIMUM_POSITION_VALUE, DXL_MAXIMUM_POSITION_VALUE }; // Goal position
UINT8_T dxl_error = 0; // Dynamixel error
INT32_T dxl1_present_position = 0, dxl2_present_position = 0; // Present position
// Open port
if (OpenPort(port_num))
{
printf("Succeeded to open the port!\n");
}
else
{
printf("Failed to open the port!\n");
printf("Press any key to terminate...\n");
_getch();
return 0;
}
// Set port baudrate
if (SetBaudRate(port_num, BAUDRATE))
{
printf("Succeeded to change the baudrate!\n");
}
else
{
printf("Failed to change the baudrate!\n");
printf("Press any key to terminate...\n");
_getch();
return 0;
}
// Enable Dynamixel#1 Torque
Write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL1_ID, ADDR_PRO_TORQUE_ENABLE, TORQUE_ENABLE);
if ((dxl_comm_result = GetLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
PrintTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
else if ((dxl_error = GetLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
PrintRxPacketError(PROTOCOL_VERSION, dxl_error);
else
printf("Dynamixel#%d has been successfully connected \n", DXL1_ID);
// Enable Dynamixel#2 Torque
Write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL2_ID, ADDR_PRO_TORQUE_ENABLE, TORQUE_ENABLE);
if ((dxl_comm_result = GetLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
PrintTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
else if ((dxl_error = GetLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
PrintRxPacketError(PROTOCOL_VERSION, dxl_error);
else
printf("Dynamixel#%d has been successfully connected \n", DXL2_ID);
// Add parameter storage for Dynamixel#1 present position value
dxl_addparam_result = GroupSyncRead_AddParam(groupread_num, DXL1_ID);
if (dxl_addparam_result != true)
{
fprintf(stderr, "[ID:%03d] groupSyncRead addparam failed", DXL1_ID);
return 0;
}
// Add parameter storage for Dynamixel#2 present position value
dxl_addparam_result = GroupSyncRead_AddParam(groupread_num, DXL2_ID);
if (dxl_addparam_result != true)
{
fprintf(stderr, "[ID:%03d] groupSyncRead addparam failed", DXL2_ID);
return 0;
}
while (1)
{
printf("Press any key to continue! (or press ESC to quit!)\n");
if(_getch() == ESC_ASCII_VALUE)
break;
// Add Dynamixel#1 goal position value to the Syncwrite storage
dxl_addparam_result = GroupSyncWrite_AddParam(groupwrite_num, DXL1_ID, dxl_goal_position[index], 4);
if (dxl_addparam_result != true)
{
fprintf(stderr, "[ID:%03d] groupSyncWrite addparam failed", DXL1_ID);
return 0;
}
// Add Dynamixel#2 goal position value to the Syncwrite parameter storage
dxl_addparam_result = GroupSyncWrite_AddParam(groupwrite_num, DXL2_ID, dxl_goal_position[index], 4);
if (dxl_addparam_result != true)
{
fprintf(stderr, "[ID:%03d] groupSyncWrite addparam failed", DXL2_ID);
return 0;
}
// Syncwrite goal position
GroupSyncWrite_TxPacket(groupwrite_num);
if ((dxl_comm_result = GetLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
PrintTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
// Clear syncwrite parameter storage
GroupSyncWrite_ClearParam(groupwrite_num);
do
{
// Syncread present position
GroupSyncRead_TxRxPacket(groupread_num);
if ((dxl_comm_result = GetLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
PrintTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
// Check if groupsyncread data of Dynamixel#1 is available
dxl_getdata_result = GroupSyncRead_IsAvailable(groupread_num, DXL1_ID, ADDR_PRO_PRESENT_POSITION, LEN_PRO_PRESENT_POSITION);
if (dxl_getdata_result != true)
{
fprintf(stderr, "[ID:%03d] groupSyncRead getdata failed", DXL1_ID);
return 0;
}
// Check if groupsyncread data of Dynamixel#2 is available
dxl_getdata_result = GroupSyncRead_IsAvailable(groupread_num, DXL2_ID, ADDR_PRO_PRESENT_POSITION, LEN_PRO_PRESENT_POSITION);
if (dxl_getdata_result != true)
{
fprintf(stderr, "[ID:%03d] groupSyncRead getdata failed", DXL2_ID);
return 0;
}
// Get Dynamixel#1 present position value
dxl1_present_position = GroupSyncRead_GetData(groupread_num, DXL1_ID, ADDR_PRO_PRESENT_POSITION, LEN_PRO_PRESENT_POSITION);
// Get Dynamixel#2 present position value
dxl2_present_position = GroupSyncRead_GetData(groupread_num, DXL2_ID, ADDR_PRO_PRESENT_POSITION, LEN_PRO_PRESENT_POSITION);
printf("[ID:%03d] GoalPos:%03d PresPos:%03d\t[ID:%03d] GoalPos:%03d PresPos:%03d\n", DXL1_ID, dxl_goal_position[index], dxl1_present_position, DXL2_ID, dxl_goal_position[index], dxl2_present_position);
} while ((abs(dxl_goal_position[index] - dxl1_present_position) > DXL_MOVING_STATUS_THRESHOLD) || (abs(dxl_goal_position[index] - dxl2_present_position) > DXL_MOVING_STATUS_THRESHOLD));
// Change goal position
if (index == 0)
index = 1;
else
index = 0;
}
// Disable Dynamixel#1 Torque
Write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL1_ID, ADDR_PRO_TORQUE_ENABLE, TORQUE_DISABLE);
if ((dxl_comm_result = GetLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
PrintTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
else if ((dxl_error = GetLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
PrintRxPacketError(PROTOCOL_VERSION, dxl_error);
// Disable Dynamixel#2 Torque
Write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL2_ID, ADDR_PRO_TORQUE_ENABLE, TORQUE_DISABLE);
if ((dxl_comm_result = GetLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
PrintTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
else if ((dxl_error = GetLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
PrintRxPacketError(PROTOCOL_VERSION, dxl_error);
// Close port
ClosePort(port_num);
return 0;
}