diff --git a/LICENSE b/LICENSE
index 23cb790338e191e29205d6f4123882c0583ef8eb..e8a5e3073bf9188ab29def9d2c1b4c06743dd885 100644
--- a/LICENSE
+++ b/LICENSE
@@ -1,339 +1,26 @@
- GNU GENERAL PUBLIC LICENSE
- Version 2, June 1991
-
- Copyright (C) 1989, 1991 Free Software Foundation, Inc., <http://fsf.org/>
- 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
- Everyone is permitted to copy and distribute verbatim copies
- of this license document, but changing it is not allowed.
-
- Preamble
-
- The licenses for most software are designed to take away your
-freedom to share and change it. By contrast, the GNU General Public
-License is intended to guarantee your freedom to share and change free
-software--to make sure the software is free for all its users. This
-General Public License applies to most of the Free Software
-Foundation's software and to any other program whose authors commit to
-using it. (Some other Free Software Foundation software is covered by
-the GNU Lesser General Public License instead.) You can apply it to
-your programs, too.
-
- When we speak of free software, we are referring to freedom, not
-price. Our General Public Licenses are designed to make sure that you
-have the freedom to distribute copies of free software (and charge for
-this service if you wish), that you receive source code or can get it
-if you want it, that you can change the software or use pieces of it
-in new free programs; and that you know you can do these things.
-
- To protect your rights, we need to make restrictions that forbid
-anyone to deny you these rights or to ask you to surrender the rights.
-These restrictions translate to certain responsibilities for you if you
-distribute copies of the software, or if you modify it.
-
- For example, if you distribute copies of such a program, whether
-gratis or for a fee, you must give the recipients all the rights that
-you have. You must make sure that they, too, receive or can get the
-source code. And you must show them these terms so they know their
-rights.
-
- We protect your rights with two steps: (1) copyright the software, and
-(2) offer you this license which gives you legal permission to copy,
-distribute and/or modify the software.
-
- Also, for each author's protection and ours, we want to make certain
-that everyone understands that there is no warranty for this free
-software. If the software is modified by someone else and passed on, we
-want its recipients to know that what they have is not the original, so
-that any problems introduced by others will not reflect on the original
-authors' reputations.
-
- Finally, any free program is threatened constantly by software
-patents. We wish to avoid the danger that redistributors of a free
-program will individually obtain patent licenses, in effect making the
-program proprietary. To prevent this, we have made it clear that any
-patent must be licensed for everyone's free use or not licensed at all.
-
- The precise terms and conditions for copying, distribution and
-modification follow.
-
- GNU GENERAL PUBLIC LICENSE
- TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
-
- 0. This License applies to any program or other work which contains
-a notice placed by the copyright holder saying it may be distributed
-under the terms of this General Public License. The "Program", below,
-refers to any such program or work, and a "work based on the Program"
-means either the Program or any derivative work under copyright law:
-that is to say, a work containing the Program or a portion of it,
-either verbatim or with modifications and/or translated into another
-language. (Hereinafter, translation is included without limitation in
-the term "modification".) Each licensee is addressed as "you".
-
-Activities other than copying, distribution and modification are not
-covered by this License; they are outside its scope. The act of
-running the Program is not restricted, and the output from the Program
-is covered only if its contents constitute a work based on the
-Program (independent of having been made by running the Program).
-Whether that is true depends on what the Program does.
-
- 1. You may copy and distribute verbatim copies of the Program's
-source code as you receive it, in any medium, provided that you
-conspicuously and appropriately publish on each copy an appropriate
-copyright notice and disclaimer of warranty; keep intact all the
-notices that refer to this License and to the absence of any warranty;
-and give any other recipients of the Program a copy of this License
-along with the Program.
-
-You may charge a fee for the physical act of transferring a copy, and
-you may at your option offer warranty protection in exchange for a fee.
-
- 2. You may modify your copy or copies of the Program or any portion
-of it, thus forming a work based on the Program, and copy and
-distribute such modifications or work under the terms of Section 1
-above, provided that you also meet all of these conditions:
-
- a) You must cause the modified files to carry prominent notices
- stating that you changed the files and the date of any change.
-
- b) You must cause any work that you distribute or publish, that in
- whole or in part contains or is derived from the Program or any
- part thereof, to be licensed as a whole at no charge to all third
- parties under the terms of this License.
-
- c) If the modified program normally reads commands interactively
- when run, you must cause it, when started running for such
- interactive use in the most ordinary way, to print or display an
- announcement including an appropriate copyright notice and a
- notice that there is no warranty (or else, saying that you provide
- a warranty) and that users may redistribute the program under
- these conditions, and telling the user how to view a copy of this
- License. (Exception: if the Program itself is interactive but
- does not normally print such an announcement, your work based on
- the Program is not required to print an announcement.)
-
-These requirements apply to the modified work as a whole. If
-identifiable sections of that work are not derived from the Program,
-and can be reasonably considered independent and separate works in
-themselves, then this License, and its terms, do not apply to those
-sections when you distribute them as separate works. But when you
-distribute the same sections as part of a whole which is a work based
-on the Program, the distribution of the whole must be on the terms of
-this License, whose permissions for other licensees extend to the
-entire whole, and thus to each and every part regardless of who wrote it.
-
-Thus, it is not the intent of this section to claim rights or contest
-your rights to work written entirely by you; rather, the intent is to
-exercise the right to control the distribution of derivative or
-collective works based on the Program.
-
-In addition, mere aggregation of another work not based on the Program
-with the Program (or with a work based on the Program) on a volume of
-a storage or distribution medium does not bring the other work under
-the scope of this License.
-
- 3. You may copy and distribute the Program (or a work based on it,
-under Section 2) in object code or executable form under the terms of
-Sections 1 and 2 above provided that you also do one of the following:
-
- a) Accompany it with the complete corresponding machine-readable
- source code, which must be distributed under the terms of Sections
- 1 and 2 above on a medium customarily used for software interchange; or,
-
- b) Accompany it with a written offer, valid for at least three
- years, to give any third party, for a charge no more than your
- cost of physically performing source distribution, a complete
- machine-readable copy of the corresponding source code, to be
- distributed under the terms of Sections 1 and 2 above on a medium
- customarily used for software interchange; or,
-
- c) Accompany it with the information you received as to the offer
- to distribute corresponding source code. (This alternative is
- allowed only for noncommercial distribution and only if you
- received the program in object code or executable form with such
- an offer, in accord with Subsection b above.)
-
-The source code for a work means the preferred form of the work for
-making modifications to it. For an executable work, complete source
-code means all the source code for all modules it contains, plus any
-associated interface definition files, plus the scripts used to
-control compilation and installation of the executable. However, as a
-special exception, the source code distributed need not include
-anything that is normally distributed (in either source or binary
-form) with the major components (compiler, kernel, and so on) of the
-operating system on which the executable runs, unless that component
-itself accompanies the executable.
-
-If distribution of executable or object code is made by offering
-access to copy from a designated place, then offering equivalent
-access to copy the source code from the same place counts as
-distribution of the source code, even though third parties are not
-compelled to copy the source along with the object code.
-
- 4. You may not copy, modify, sublicense, or distribute the Program
-except as expressly provided under this License. Any attempt
-otherwise to copy, modify, sublicense or distribute the Program is
-void, and will automatically terminate your rights under this License.
-However, parties who have received copies, or rights, from you under
-this License will not have their licenses terminated so long as such
-parties remain in full compliance.
-
- 5. You are not required to accept this License, since you have not
-signed it. However, nothing else grants you permission to modify or
-distribute the Program or its derivative works. These actions are
-prohibited by law if you do not accept this License. Therefore, by
-modifying or distributing the Program (or any work based on the
-Program), you indicate your acceptance of this License to do so, and
-all its terms and conditions for copying, distributing or modifying
-the Program or works based on it.
-
- 6. Each time you redistribute the Program (or any work based on the
-Program), the recipient automatically receives a license from the
-original licensor to copy, distribute or modify the Program subject to
-these terms and conditions. You may not impose any further
-restrictions on the recipients' exercise of the rights granted herein.
-You are not responsible for enforcing compliance by third parties to
-this License.
-
- 7. If, as a consequence of a court judgment or allegation of patent
-infringement or for any other reason (not limited to patent issues),
-conditions are imposed on you (whether by court order, agreement or
-otherwise) that contradict the conditions of this License, they do not
-excuse you from the conditions of this License. If you cannot
-distribute so as to satisfy simultaneously your obligations under this
-License and any other pertinent obligations, then as a consequence you
-may not distribute the Program at all. For example, if a patent
-license would not permit royalty-free redistribution of the Program by
-all those who receive copies directly or indirectly through you, then
-the only way you could satisfy both it and this License would be to
-refrain entirely from distribution of the Program.
-
-If any portion of this section is held invalid or unenforceable under
-any particular circumstance, the balance of the section is intended to
-apply and the section as a whole is intended to apply in other
-circumstances.
-
-It is not the purpose of this section to induce you to infringe any
-patents or other property right claims or to contest validity of any
-such claims; this section has the sole purpose of protecting the
-integrity of the free software distribution system, which is
-implemented by public license practices. Many people have made
-generous contributions to the wide range of software distributed
-through that system in reliance on consistent application of that
-system; it is up to the author/donor to decide if he or she is willing
-to distribute software through any other system and a licensee cannot
-impose that choice.
-
-This section is intended to make thoroughly clear what is believed to
-be a consequence of the rest of this License.
-
- 8. If the distribution and/or use of the Program is restricted in
-certain countries either by patents or by copyrighted interfaces, the
-original copyright holder who places the Program under this License
-may add an explicit geographical distribution limitation excluding
-those countries, so that distribution is permitted only in or among
-countries not thus excluded. In such case, this License incorporates
-the limitation as if written in the body of this License.
-
- 9. The Free Software Foundation may publish revised and/or new versions
-of the General Public License from time to time. Such new versions will
-be similar in spirit to the present version, but may differ in detail to
-address new problems or concerns.
-
-Each version is given a distinguishing version number. If the Program
-specifies a version number of this License which applies to it and "any
-later version", you have the option of following the terms and conditions
-either of that version or of any later version published by the Free
-Software Foundation. If the Program does not specify a version number of
-this License, you may choose any version ever published by the Free Software
-Foundation.
-
- 10. If you wish to incorporate parts of the Program into other free
-programs whose distribution conditions are different, write to the author
-to ask for permission. For software which is copyrighted by the Free
-Software Foundation, write to the Free Software Foundation; we sometimes
-make exceptions for this. Our decision will be guided by the two goals
-of preserving the free status of all derivatives of our free software and
-of promoting the sharing and reuse of software generally.
-
- NO WARRANTY
-
- 11. BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY
-FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN
-OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES
-PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED
-OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
-MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS
-TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE
-PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING,
-REPAIR OR CORRECTION.
-
- 12. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
-WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY AND/OR
-REDISTRIBUTE THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES,
-INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING
-OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED
-TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY
-YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER
-PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE
-POSSIBILITY OF SUCH DAMAGES.
-
- END OF TERMS AND CONDITIONS
-
- How to Apply These Terms to Your New Programs
-
- If you develop a new program, and you want it to be of the greatest
-possible use to the public, the best way to achieve this is to make it
-free software which everyone can redistribute and change under these terms.
-
- To do so, attach the following notices to the program. It is safest
-to attach them to the start of each source file to most effectively
-convey the exclusion of warranty; and each file should have at least
-the "copyright" line and a pointer to where the full notice is found.
-
- {description}
- Copyright (C) {year} {fullname}
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License along
- with this program; if not, write to the Free Software Foundation, Inc.,
- 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
-
-Also add information on how to contact you by electronic and paper mail.
-
-If the program is interactive, make it output a short notice like this
-when it starts in an interactive mode:
-
- Gnomovision version 69, Copyright (C) year name of author
- Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
- This is free software, and you are welcome to redistribute it
- under certain conditions; type `show c' for details.
-
-The hypothetical commands `show w' and `show c' should show the appropriate
-parts of the General Public License. Of course, the commands you use may
-be called something other than `show w' and `show c'; they could even be
-mouse-clicks or menu items--whatever suits your program.
-
-You should also get your employer (if you work as a programmer) or your
-school, if any, to sign a "copyright disclaimer" for the program, if
-necessary. Here is a sample; alter the names:
-
- Yoyodyne, Inc., hereby disclaims all copyright interest in the program
- `Gnomovision' (which makes passes at compilers) written by James Hacker.
-
- {signature of Ty Coon}, 1 April 1989
- Ty Coon, President of Vice
-
-This General Public License does not permit incorporating your program into
-proprietary programs. If your program is a subroutine library, you may
-consider it more useful to permit linking proprietary applications with the
-library. If this is what you want to do, use the GNU Lesser General
-Public License instead of this License.
+Software License Agreement (BSD License)
+
+Copyright (c) 2014, ROBOTIS Inc.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+ * Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+ * Neither the name of ROBOTIS nor the names of its contributors may be
+ used to endorse or promote products derived from this software
+ without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY ROBOTIS "AS IS" AND ANY EXPRESS OR IMPLIED
+WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
+IN NO EVENT SHALL ROBOTIS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
+OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
+OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
\ No newline at end of file
diff --git a/README.md b/README.md
deleted file mode 100644
index 0f54c2f9734b65b5cf4351919608305aac9198c3..0000000000000000000000000000000000000000
--- a/README.md
+++ /dev/null
@@ -1 +0,0 @@
-#ROBOTIS Dynamixel SDK
\ No newline at end of file
diff --git a/c++/build/linux/Makefile b/c++/build/linux/Makefile
deleted file mode 100644
index 58dc54e267b193a7999563a62a28c1f571d69919..0000000000000000000000000000000000000000
--- a/c++/build/linux/Makefile
+++ /dev/null
@@ -1,121 +0,0 @@
-##################################################
-# PROJECT: DynamixelSDK - ROBOTIS Ltd.
-##################################################
-
-#---------------------------------------------------------------------
-# C++ COMPILER, COMPILER FLAGS, AND TARGET PROGRAM NAME
-#---------------------------------------------------------------------
-DIR_DXL = ../..
-DIR_OBJS = ./.objects
-
-INSTALL_ROOT = /usr/local
-
-MAJ_VERSION = 2
-MIN_VERSION = 0
-REV_VERSION = 0
-
-TARGET = libdxl.so
-TARGET1 = $(TARGET).$(MAJ_VERSION)
-TARGET2 = $(TARGET).$(MAJ_VERSION).$(MIN_VERSION)
-TARGET3 = $(TARGET).$(MAJ_VERSION).$(MIN_VERSION).$(REV_VERSION)
-
-CHK_DIR_EXISTS = test -d
-PRINT = echo
-STRIP = strip
-AR = ar
-ARFLAGS = cr
-LD = g++
-LDFLAGS = -shared -fPIC #-Wl,-soname,dxl
-LD_CONFIG = ldconfig
-CP = cp
-CP_ALL = cp -r
-RM = rm
-RM_ALL = rm -rf
-SYMLINK = ln -s
-MKDIR = mkdir
-CC = gcc
-CX = g++
-CCFLAGS = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall -c $(INCLUDES) -fPIC -g
-CXFLAGS = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall -c $(INCLUDES) -fPIC -g
-# CXFLAGS += -DDEBUG
-INCLUDES += -I$(DIR_DXL)/include
-
-#---------------------------------------------------------------------
-# Required external libraries
-#---------------------------------------------------------------------
-#LIBRARIES += -lrt
-
-#---------------------------------------------------------------------
-# SDK Files
-#---------------------------------------------------------------------
-SOURCES = src/dynamixel_sdk/GroupBulkRead.cpp \
- src/dynamixel_sdk/GroupBulkWrite.cpp \
- src/dynamixel_sdk/GroupSyncRead.cpp \
- src/dynamixel_sdk/GroupSyncWrite.cpp \
- src/dynamixel_sdk/PacketHandler.cpp \
- src/dynamixel_sdk/PortHandler.cpp \
- src/dynamixel_sdk/Protocol1PacketHandler.cpp \
- src/dynamixel_sdk/Protocol2PacketHandler.cpp \
- src/dynamixel_sdk_linux/PortHandlerLinux.cpp \
-
-
-OBJECTS=$(addsuffix .o,$(addprefix $(DIR_OBJS)/,$(basename $(notdir $(SOURCES)))))
-
-
-#---------------------------------------------------------------------
-# COMPILING RULES
-#---------------------------------------------------------------------
-$(TARGET): makedirs $(OBJECTS)
- $(LD) $(LDFLAGS) -o ./$(TARGET) $(OBJECTS) $(LIBS)
-
-makedirs:
- mkdir -p $(DIR_OBJS)/
-
-clean:
- rm -f $(OBJECTS) ./$(TARGET)
-
-install: $(TARGET)
- # copy the binaries into the lib directory
- @$(CHK_DIR_EXISTS) $(INSTALL_ROOT)/lib || $(MKDIR) $(INSTALL_ROOT)/lib
- -$(CP) "./$(TARGET)" "$(INSTALL_ROOT)/lib/$(TARGET)"
- -$(SYMLINK) "$(INSTALL_ROOT)/lib/$(TARGET)" "$(INSTALL_ROOT)/lib/$(TARGET1)"
- -$(SYMLINK) "$(INSTALL_ROOT)/lib/$(TARGET)" "$(INSTALL_ROOT)/lib/$(TARGET2)"
- -$(SYMLINK) "$(INSTALL_ROOT)/lib/$(TARGET)" "$(INSTALL_ROOT)/lib/$(TARGET3)"
-
- # copy the headers into the include directory
- @$(CHK_DIR_EXISTS) $(INSTALL_ROOT)/include || $(MKDIR) $(INSTALL_ROOT)/include
- $(CP_ALL) $(DIR_DXL)/include/* $(INSTALL_ROOT)/include/
-
- $(LD_CONFIG)
-
-uninstall:
- $(RM) $(INSTALL_ROOT)/lib/$(TARGET)
- $(RM) $(INSTALL_ROOT)/lib/$(TARGET1)
- $(RM) $(INSTALL_ROOT)/lib/$(TARGET2)
- $(RM) $(INSTALL_ROOT)/lib/$(TARGET3)
-
- $(RM) $(INSTALL_ROOT)/include/DynamixelSDK.h
- $(RM_ALL) $(INSTALL_ROOT)/include/dynamixel_sdk*
-
-reinstall: uninstall install
-
-
-#---------------------------------------------------------------------
-# Make rules for all .c and .cpp files in each directory
-#---------------------------------------------------------------------
-
-$(DIR_OBJS)/%.o: $(DIR_DXL)/src/dynamixel_sdk/%.c
- $(CC) $(CCFLAGS) -c $? -o $@
-
-$(DIR_OBJS)/%.o: $(DIR_DXL)/src/dynamixel_sdk/%.cpp
- $(CX) $(CXFLAGS) -c $? -o $@
-
-$(DIR_OBJS)/%.o: $(DIR_DXL)/src/dynamixel_sdk_linux/%.c
- $(CC) $(CCFLAGS) -c $? -o $@
-
-$(DIR_OBJS)/%.o: $(DIR_DXL)/src/dynamixel_sdk_linux/%.cpp
- $(CX) $(CXFLAGS) -c $? -o $@
-
-#---------------------------------------------------------------------
-# END OF MAKEFILE
-#---------------------------------------------------------------------
diff --git a/c++/example/DXLMonitor/DXLMonitor.cpp b/c++/example/DXLMonitor/DXLMonitor.cpp
index 613988c8998b1402adb1ecdcb89c323c3663c412..08cea0928ed1e8f7444d6b7602b537c268d423a7 100644
--- a/c++/example/DXLMonitor/DXLMonitor.cpp
+++ b/c++/example/DXLMonitor/DXLMonitor.cpp
@@ -9,9 +9,9 @@
// ********* DXL Monitor Example *********
//
//
-// Available DXL model on this example : All models using Protocol 1.0 and 2.0
-// This example is tested with a DXL MX-28, a DXL PRO 54-200 and an USB2DYNAMIXEL
-// Be sure that properties of DXL MX and PRO are already set as %% MX - ID : 1 / Baudnum : 1 (Baudrate : 1000000) , PRO - ID : 1 / Baudnum : 3 (Baudrate : 1000000)
+// Available Dynamixel model on this example : All models using Protocol 1.0 and 2.0
+// This example is tested with a Dynamixel MX-28, a Dynamixel PRO 54-200 and an USB2DYNAMIXEL
+// Be sure that properties of Dynamixel MX and PRO are already set as %% MX - ID : 1 / Baudnum : 1 (Baudrate : 1000000) , PRO - ID : 1 / Baudnum : 3 (Baudrate : 1000000)
//
#ifdef __linux__
@@ -19,22 +19,25 @@
#include <fcntl.h>
#include <getopt.h>
#include <termios.h>
+#elif defined(_WIN32) || defined(_WIN64)
+#include <conio.h>
#endif
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <vector>
-#include "DynamixelSDK.h"
+#include "DynamixelSDK.h" // Uses Dynamixel SDK library
// Protocol version
-#define PROTOCOL_VERSION1 1.0
+#define PROTOCOL_VERSION1 1.0 // See which protocol version is used in the Dynamixel
#define PROTOCOL_VERSION2 2.0
// Default setting
-#define DEFAULT_DEV_NAME "/dev/ttyUSB0"
+#define DEVICENAME "/dev/ttyUSB0" // Check which port is being used on your controller
+ // ex) Windows: "COM1" Linux: "/dev/ttyUSB0"
-using namespace ROBOTIS;
+using namespace ROBOTIS; // Uses functions defined in ROBOTIS namespace
#ifdef __linux__
int _getch()
@@ -83,7 +86,7 @@ void Usage(char *progname)
printf("-----------------------------------------------------------------------\n");
printf("Usage: %s\n" \
" [-h | --help]........: display this help\n" \
- " [-d | --device]......: port to open (/dev/ttyUSB0)\n" \
+ " [-d | --device]......: port to open \n" \
, progname);
printf("-----------------------------------------------------------------------\n");
}
@@ -101,11 +104,11 @@ void Help()
printf(" ex) baud 2400 (2400 bps) \n");
printf(" ex) baud 1000000 (1 Mbps) \n");
printf(" exit :Exit this program\n");
- printf(" scan :Outputs the current status of all DXLs\n");
+ printf(" scan :Outputs the current status of all Dynamixels\n");
printf(" ping [ID] [ID] ... :Outputs the current status of [ID]s \n");
- printf(" bp :Broadcast ping (DXL Protocol 2.0 only)\n");
+ printf(" bp :Broadcast ping (Dynamixel Protocol 2.0 only)\n");
printf(" \n");
- printf(" ==================== Commands for DXL Protocol 1.0 ====================\n");
+ printf(" ==================== Commands for Dynamixel Protocol 1.0 ====================\n");
printf(" \n");
printf(" wrb1|w1 [ID] [ADDR] [VALUE] :Write byte [VALUE] to [ADDR] of [ID]\n");
printf(" wrw1 [ID] [ADDR] [VALUE] :Write word [VALUE] to [ADDR] of [ID]\n");
@@ -115,7 +118,7 @@ void Help()
printf(" ([LENGTH] bytes from [ADDR])\n");
printf(" reset1|rst1 [ID] :Factory reset the Dynamixel of [ID]\n");
printf(" \n");
- printf(" ==================== Commands for DXL Protocol 2.0 ====================\n");
+ printf(" ==================== Commands for Dynamixel Protocol 2.0 ====================\n");
printf(" \n");
printf(" wrb2|w2 [ID] [ADDR] [VALUE] :Write byte [VALUE] to [ADDR] of [ID]\n");
printf(" wrw2 [ID] [ADDR] [VALUE] :Write word [VALUE] to [ADDR] of [ID]\n");
@@ -138,7 +141,7 @@ void Scan(PortHandler *portHandler, PacketHandler* packetHandler1, PacketHandler
UINT16_T dxl_model_num;
fprintf(stderr, "\n");
- fprintf(stderr, "Scan DXL Using Protocol 1.0\n");
+ fprintf(stderr, "Scan Dynamixel Using Protocol 1.0\n");
for(int id = 1; id < 253; id++)
{
if( packetHandler1-> Ping(portHandler, id, &dxl_model_num, &dxl_error)== COMM_SUCCESS)
@@ -159,7 +162,7 @@ void Scan(PortHandler *portHandler, PacketHandler* packetHandler1, PacketHandler
}
fprintf(stderr, "\n\n");
- fprintf(stderr, "Scan DXL Using Protocol 2.0\n");
+ fprintf(stderr, "Scan Dynamixel Using Protocol 2.0\n");
for(int id = 1; id < 253; id++)
{
if(packetHandler2-> Ping(portHandler, id, &dxl_model_num, &dxl_error)== COMM_SUCCESS)
@@ -210,11 +213,11 @@ void Write(PortHandler *portHandler, PacketHandler *packetHandler, UINT8_T id, U
void Read(PortHandler *portHandler, PacketHandler *packetHandler, UINT8_T id, UINT16_T addr, UINT16_T length)
{
UINT8_T dxl_error = 0;
- int dxl_comm_result = COMM_TX_FAIL;
+ int dxl_comm_result = COMM_TX_FAIL;
- INT8_T value8 = 0;
- INT16_T value16 = 0;
- INT32_T value32 = 0;
+ INT8_T value8 = 0;
+ INT16_T value16 = 0;
+ INT32_T value32 = 0;
if(length == 1)
@@ -245,9 +248,9 @@ void Read(PortHandler *portHandler, PacketHandler *packetHandler, UINT8_T id, UI
void Dump(PortHandler *portHandler, PacketHandler *packetHandler, UINT8_T id, UINT16_T addr, UINT16_T len)
{
- UINT8_T dxl_error = 0;
- int dxl_comm_result = COMM_TX_FAIL;
- UINT8_T* data = (UINT8_T*)calloc(len, sizeof(UINT8_T));
+ UINT8_T dxl_error = 0;
+ int dxl_comm_result = COMM_TX_FAIL;
+ UINT8_T* data = (UINT8_T*)calloc(len, sizeof(UINT8_T));
dxl_comm_result = packetHandler->ReadTxRx(portHandler, id, addr, len, data, &dxl_error);
if(dxl_comm_result == COMM_SUCCESS)
@@ -284,19 +287,20 @@ int main(int argc, char *argv[])
fprintf(stderr, "* DXL Monitor *\n");
fprintf(stderr, "***********************************************************************\n\n");
- char *dev_name = (char*)DEFAULT_DEV_NAME;
+ char *dev_name = (char*)DEVICENAME;
+#ifdef __linux__
/* parameter parsing */
while(1)
{
- int option_index = 0, c = 0;
- static struct option long_options[] = {
+ int option_index = 0, c = 0;
+ static struct option long_options[] = {
{"h", no_argument, 0, 0},
{"help", no_argument, 0, 0},
{"d", required_argument, 0, 0},
{"device", required_argument, 0, 0},
{0, 0, 0, 0}
- };
+ };
/* parsing all parameters according to the list above is sufficent */
c = getopt_long_only(argc, argv, "", long_options, &option_index);
@@ -306,7 +310,7 @@ int main(int argc, char *argv[])
/* unrecognized option */
if(c == '?') {
- Usage(argv[0]);
+ Usage(argv[0]);
return 0;
}
@@ -315,7 +319,7 @@ int main(int argc, char *argv[])
/* h, help */
case 0:
case 1:
- Usage(argv[0]);
+ Usage(argv[0]);
return 0;
break;
@@ -333,15 +337,16 @@ int main(int argc, char *argv[])
break;
default:
- Usage(argv[0]);
+ Usage(argv[0]);
return 0;
}
}
+#endif
- // Initialize PortHandler instance
- // Set the port path
- // Get methods and members of PortHandlerLinux or PortHandlerWindows
- PortHandler *portHandler = PortHandler::GetPortHandler(dev_name);
+ // Initialize PortHandler instance
+ // Set the port path
+ // Get methods and members of PortHandlerLinux or PortHandlerWindows
+ PortHandler *portHandler = PortHandler::GetPortHandler(dev_name);
// Open port
if(portHandler->OpenPort())
@@ -358,11 +363,11 @@ int main(int argc, char *argv[])
return 0;
}
- char input[128];
- char cmd[80];
- char param[20][30];
- int num_param;
- char* token;
+ char input[128];
+ char cmd[80];
+ char param[20][30];
+ int num_param;
+ char* token;
UINT8_T dxl_error;
while(1)
diff --git a/c++/example/DXLMonitor/Makefile b/c++/example/DXLMonitor/Makefile
deleted file mode 100644
index 497d93ab2d163f83709ccf61f9751a11a7da9899..0000000000000000000000000000000000000000
--- a/c++/example/DXLMonitor/Makefile
+++ /dev/null
@@ -1,78 +0,0 @@
-##################################################
-# PROJECT: DXL Monitor tool Makefile
-# AUTHOR : ROBOTIS Ltd.
-##################################################
-
-#---------------------------------------------------------------------
-# Makefile template for projects using DXL SDK
-#
-# Please make sure to follow these instructions when setting up your
-# own copy of this file:
-#
-# 1- Enter the name of the target (the TARGET variable)
-# 2- Add additional source files to the SOURCES variable
-# 3- Add additional static library objects to the OBJECTS variable
-# if necessary
-# 4- Ensure that compiler flags, INCLUDES, and LIBRARIES are
-# appropriate to your needs
-#
-#
-# This makefile will link against several libraries, not all of which
-# are necessarily needed for your project. Please feel free to
-# remove libaries you do not need.
-#---------------------------------------------------------------------
-
-# *** ENTER THE TARGET NAME HERE ***
-TARGET = DXLMonitor
-
-# important directories used by assorted rules and other variables
-DIR_DXL = ../..
-DIR_OBJS = .objects
-
-# compiler options
-CC = gcc
-CX = g++
-CCFLAGS = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall $(INCLUDES) -g
-CXFLAGS = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall $(INCLUDES) -g
-LNKCC = $(CX)
-LNKFLAGS = $(CXFLAGS) #-Wl,-rpath,$(DIR_THOR)/lib
-
-#---------------------------------------------------------------------
-# Core components (all of these are likely going to be needed)
-#---------------------------------------------------------------------
-INCLUDES += -I$(DIR_DXL)/include
-LIBRARIES += -ldxl
-
-#---------------------------------------------------------------------
-# Files
-#---------------------------------------------------------------------
-SOURCES = DXLMonitor.cpp \
- # *** OTHER SOURCES GO HERE ***
-
-OBJECTS = $(addsuffix .o,$(addprefix $(DIR_OBJS)/,$(basename $(notdir $(SOURCES)))))
-#OBJETCS += *** ADDITIONAL STATIC LIBRARIES GO HERE ***
-
-
-#---------------------------------------------------------------------
-# Compiling Rules
-#---------------------------------------------------------------------
-$(TARGET): make_directory $(OBJECTS)
- $(LNKCC) $(LNKFLAGS) $(OBJECTS) -o $(TARGET) $(LIBRARIES)
-
-all: $(TARGET)
-
-clean:
- rm -rf $(TARGET) $(DIR_OBJS) core *~ *.a *.so *.lo
-
-make_directory:
- mkdir -p $(DIR_OBJS)/
-
-$(DIR_OBJS)/%.o: %.c
- $(CC) $(CCFLAGS) -c $? -o $@
-
-$(DIR_OBJS)/%.o: %.cpp
- $(CX) $(CXFLAGS) -c $? -o $@
-
-#---------------------------------------------------------------------
-# End of Makefile
-#---------------------------------------------------------------------
diff --git a/c++/example/Protocol1.0/BulkRead/BulkRead.cpp b/c++/example/Protocol1.0/BulkRead/BulkRead.cpp
index f45a72edd353742dcb718555899efcd31ccb6310..93cfc9568ace19cb09af87a6a303f0c9b10dc169 100644
--- a/c++/example/Protocol1.0/BulkRead/BulkRead.cpp
+++ b/c++/example/Protocol1.0/BulkRead/BulkRead.cpp
@@ -9,48 +9,52 @@
// ********* Bulk Read Example *********
//
//
-// Available DXL model on this example : MX or X series set to Protocol 1.0
-// This example is tested with two DXL MX-28, and an USB2DYNAMIXEL
-// Be sure that DXL MX properties are already set as %% ID : 1 / Baudnum : 1 (Baudrate : 1000000)
+// Available Dynamixel model on this example : MX or X series set to Protocol 1.0
+// This example is tested with two Dynamixel MX-28, and an USB2DYNAMIXEL
+// Be sure that Dynamixel MX properties are already set as %% ID : 1 / Baudnum : 1 (Baudrate : 1000000)
//
-
#ifdef __linux__
#include <unistd.h>
#include <fcntl.h>
-#include <getopt.h>
#include <termios.h>
+#elif defined(_WIN32) || defined(_WIN64)
+#include <conio.h>
#endif
-#include <stdio.h>
#include <stdlib.h>
-#include <string.h>
-
-#include "DynamixelSDK.h"
+#include <stdio.h>
+#include "DynamixelSDK.h" // Uses Dynamixel SDK library
// Control table address
-#define ADDR_MX_TORQUE_ENABLE 24
+#define ADDR_MX_TORQUE_ENABLE 24 // Control table address is different in Dynamixel model
#define ADDR_MX_GOAL_POSITION 30
#define ADDR_MX_PRESENT_POSITION 36
#define ADDR_MX_MOVING 46
// Data Byte Length
-#define LEN_MX_TORQUE_ENABLE 1
#define LEN_MX_GOAL_POSITION 2
#define LEN_MX_PRESENT_POSITION 2
#define LEN_MX_MOVING 1
// Protocol version
-#define PROTOCOL_VERSION 1.0
+#define PROTOCOL_VERSION 1.0 // See which protocol version is used in the Dynamixel
// Default setting
-#define DXL1_ID 1 // DXL#1 ID:1
-#define DXL2_ID 2 // DXL#2 ID:2
+#define DXL1_ID 1 // Dynamixel#1 ID: 1
+#define DXL2_ID 2 // Dynamixel#2 ID: 2
#define BAUDRATE 1000000
-#define DEVICENAME "/dev/ttyUSB0"
+#define DEVICENAME "/dev/ttyUSB0" // Check which port is being used on your controller
+ // ex) Windows: "COM1" Linux: "/dev/ttyUSB0"
+
+#define TORQUE_ENABLE 1 // Value for enabling the torque
+#define TORQUE_DISABLE 0 // Value for disabling the torque
+#define DXL_MINIMUM_POSITION_VALUE 100 // Dynamixel will rotate between this value
+#define DXL_MAXIMUM_POSITION_VALUE 4000 // 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 10 // Dynamixel moving status threshold
-#define STOP_MOVING_MARGIN 10 // Criteria for considering DXL moving status as stopped
+#define ESC_ASCII_VALUE 0x1b
-using namespace ROBOTIS;
+using namespace ROBOTIS; // Uses functions defined in ROBOTIS namespace
#ifdef __linux__
int _getch()
@@ -102,22 +106,22 @@ int main()
PortHandler *portHandler = PortHandler::GetPortHandler(DEVICENAME);
// Initialize Packethandler instance
+ // Set the protocol version
+ // Get methods and members of Protocol1PacketHandler or Protocol2PacketHandler
PacketHandler *packetHandler = PacketHandler::GetPacketHandler(PROTOCOL_VERSION);
// Initialize Groupbulkread instance
GroupBulkRead groupBulkRead(portHandler, packetHandler);
int index = 0;
- int dxl_comm_result = COMM_TX_FAIL; // Communication result
- int dxl_addparam_result = false; // AddParam result
- int dxl_getdata_result = false; // GetParam result
- int dxl_goal_position[2] = {100, 1000}; // Goal position
+ 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_torque_enable = 1; // Value for torque enable
- UINT8_T dxl_torque_disable = 0; // Value for torque disable
- UINT8_T dxl_error = 0; // DXL error
- UINT8_T dxl_moving2 = 0; // DXL moving status
- UINT16_T dxl_present_position1 = 0; // Present position
+ UINT8_T dxl_error = 0; // Dynamixel error
+ UINT16_T dxl1_present_position = 0; // Present position
+ UINT8_T dxl2_moving = 0; // Dynamixel moving status
// Open port
if( portHandler->OpenPort() )
@@ -145,25 +149,25 @@ int main()
return 0;
}
- // Enable DXL#1 Torque
- dxl_comm_result= packetHandler->Write1ByteTxRx(portHandler, DXL1_ID, ADDR_MX_TORQUE_ENABLE, dxl_torque_enable, &dxl_error);
+ // Enable Dynamixel#1 Torque
+ dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL1_ID, ADDR_MX_TORQUE_ENABLE, TORQUE_ENABLE, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
- printf("DXL#%d successfully connected\n", DXL1_ID);
-
+ else
+ printf("Dynamixel#%d has been successfully connected \n", DXL1_ID);
- // Enable DXL#2 Torque
- dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL2_ID, ADDR_MX_TORQUE_ENABLE, dxl_torque_enable, &dxl_error);
+ // Enable Dynamixel#2 Torque
+ dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL2_ID, ADDR_MX_TORQUE_ENABLE, TORQUE_ENABLE, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
- printf("DXL#%d successfully connected\n", DXL2_ID);
-
+ else
+ printf("Dynamixel#%d has been successfully connected \n", DXL2_ID);
- // Add parameter storage for DXL#1 present position value
+ // Add parameter storage for Dynamixel#1 present position value
dxl_addparam_result = groupBulkRead.AddParam(DXL1_ID, ADDR_MX_PRESENT_POSITION, LEN_MX_PRESENT_POSITION);
if( dxl_addparam_result != true )
{
@@ -171,7 +175,7 @@ int main()
return 0;
}
- // Add parameter storage for DXL#2 present moving value
+ // Add parameter storage for Dynamixel#2 present moving value
dxl_addparam_result = groupBulkRead.AddParam(DXL2_ID, ADDR_MX_MOVING, LEN_MX_MOVING);
if( dxl_addparam_result != true )
{
@@ -181,48 +185,54 @@ int main()
while(1)
{
- printf( "Press Enter key to continue!(press ESC and Enter to quit)\n" );
- if(_getch() == 0x1b)
+ printf("Press any key to continue! (or press ESC to quit!)\n");
+ if(_getch() == ESC_ASCII_VALUE)
break;
- // Write DXL#1 goal position
+ // Write Dynamixel#1 goal position
dxl_comm_result = packetHandler->Write2ByteTxRx(portHandler, DXL1_ID, ADDR_MX_GOAL_POSITION, dxl_goal_position[index], &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
- // Write DXL#2 goal position
+ // Write Dynamixel#2 goal position
dxl_comm_result = packetHandler->Write2ByteTxRx(portHandler, DXL2_ID, ADDR_MX_GOAL_POSITION, dxl_goal_position[index], &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
- do{
+ do
+ {
// Bulkread present position and moving status
dxl_comm_result = groupBulkRead.TxRxPacket();
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
- // Get DXL#1 present position value
- dxl_getdata_result = groupBulkRead.GetData(DXL1_ID, ADDR_MX_PRESENT_POSITION, &dxl_present_position1);
- if( dxl_getdata_result != true )
+ dxl_getdata_result = groupBulkRead.IsAvailable(DXL1_ID, ADDR_MX_PRESENT_POSITION, LEN_MX_PRESENT_POSITION);
+ if (dxl_getdata_result != true)
{
fprintf(stderr, "[ID:%03d] groupBulkRead getdata failed", DXL1_ID);
return 0;
}
- // Get DXL#2 moving status value
- dxl_getdata_result = groupBulkRead.GetData(DXL2_ID, ADDR_MX_MOVING, &dxl_moving2);
- if( dxl_getdata_result != true )
+ dxl_getdata_result = groupBulkRead.IsAvailable(DXL2_ID, ADDR_MX_MOVING, LEN_MX_MOVING);
+ if (dxl_getdata_result != true)
{
fprintf(stderr, "[ID:%03d] groupBulkRead getdata failed", DXL2_ID);
return 0;
}
- printf("[ID:%03d] Present Position : %d \t [ID:%03d] Is Moving : %d\n", DXL1_ID, dxl_present_position1, DXL2_ID, dxl_moving2);
- }while((abs(dxl_goal_position[index] - dxl_present_position1) > STOP_MOVING_MARGIN) || (dxl_moving2 == 1));
+ // Get Dynamixel#1 present position value
+ dxl1_present_position = groupBulkRead.GetData(DXL1_ID, ADDR_MX_PRESENT_POSITION, LEN_MX_PRESENT_POSITION);
+
+ // Get Dynamixel#2 moving status value
+ dxl2_moving = groupBulkRead.GetData(DXL2_ID, ADDR_MX_MOVING, LEN_MX_MOVING);
+
+ printf("[ID:%03d] Present Position : %d \t [ID:%03d] Is Moving : %d\n", DXL1_ID, dxl1_present_position, DXL2_ID, dxl2_moving);
+
+ }while(abs(dxl_goal_position[index] - dxl1_present_position) > DXL_MOVING_STATUS_THRESHOLD);
// Change goal position
if( index == 0 )
@@ -230,18 +240,16 @@ int main()
else
index = 0;
}
- // Clear bulkread parameter storage
- groupBulkRead.ClearParam();
- // Disable DXL#1 Torque
- dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL1_ID, ADDR_MX_TORQUE_ENABLE, dxl_torque_disable, &dxl_error);
+ // Disable Dynamixel#1 Torque
+ dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL1_ID, ADDR_MX_TORQUE_ENABLE, TORQUE_DISABLE, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
- // Disable DXL#2 Torque
- dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL2_ID, ADDR_MX_TORQUE_ENABLE, dxl_torque_disable, &dxl_error);
+ // Disable Dynamixel#2 Torque
+ dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL2_ID, ADDR_MX_TORQUE_ENABLE, TORQUE_DISABLE, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
@@ -250,7 +258,5 @@ int main()
// Close port
portHandler->ClosePort();
- printf( "Press Enter key to terminate...\n" );
- _getch();
return 0;
}
diff --git a/c++/example/Protocol1.0/BulkRead/Makefile b/c++/example/Protocol1.0/BulkRead/Makefile
deleted file mode 100644
index 3158f3b5cecdc45ff76bf20d974dd89c1e879feb..0000000000000000000000000000000000000000
--- a/c++/example/Protocol1.0/BulkRead/Makefile
+++ /dev/null
@@ -1,79 +0,0 @@
-##################################################
-# PROJECT: DXL Protocol 1.0 BulkRead Example Makefile
-# AUTHOR : ROBOTIS Ltd.
-##################################################
-
-#---------------------------------------------------------------------
-# Makefile template for projects using DXL SDK
-#
-# Please make sure to follow these instructions when setting up your
-# own copy of this file:
-#
-# 1- Enter the name of the target (the TARGET variable)
-# 2- Add additional source files to the SOURCES variable
-# 3- Add additional static library objects to the OBJECTS variable
-# if necessary
-# 4- Ensure that compiler flags, INCLUDES, and LIBRARIES are
-# appropriate to your needs
-#
-#
-# This makefile will link against several libraries, not all of which
-# are necessarily needed for your project. Please feel free to
-# remove libaries you do not need.
-#---------------------------------------------------------------------
-
-# *** ENTER THE TARGET NAME HERE ***
-TARGET = BulkRead
-
-# important directories used by assorted rules and other variables
-DIR_DXL = ../../..
-DIR_OBJS = .objects
-
-# compiler options
-CC = gcc
-CX = g++
-CCFLAGS = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall $(INCLUDES) -g
-CXFLAGS = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall $(INCLUDES) -g
-LNKCC = $(CX)
-LNKFLAGS = $(CXFLAGS) #-Wl,-rpath,$(DIR_THOR)/lib
-
-#---------------------------------------------------------------------
-# Core components (all of these are likely going to be needed)
-#---------------------------------------------------------------------
-INCLUDES += -I$(DIR_DXL)/include
-LIBRARIES += -ldxl
-
-
-#---------------------------------------------------------------------
-# Files
-#---------------------------------------------------------------------
-SOURCES = BulkRead.cpp \
- # *** OTHER SOURCES GO HERE ***
-
-OBJECTS = $(addsuffix .o,$(addprefix $(DIR_OBJS)/,$(basename $(notdir $(SOURCES)))))
-#OBJETCS += *** ADDITIONAL STATIC LIBRARIES GO HERE ***
-
-
-#---------------------------------------------------------------------
-# Compiling Rules
-#---------------------------------------------------------------------
-$(TARGET): make_directory $(OBJECTS)
- $(LNKCC) $(LNKFLAGS) $(OBJECTS) -o $(TARGET) $(LIBRARIES)
-
-all: $(TARGET)
-
-clean:
- rm -rf $(TARGET) $(DIR_OBJS) core *~ *.a *.so *.lo
-
-make_directory:
- mkdir -p $(DIR_OBJS)/
-
-$(DIR_OBJS)/%.o: %.c
- $(CC) $(CCFLAGS) -c $? -o $@
-
-$(DIR_OBJS)/%.o: %.cpp
- $(CX) $(CXFLAGS) -c $? -o $@
-
-#---------------------------------------------------------------------
-# End of Makefile
-#---------------------------------------------------------------------
diff --git a/c++/example/Protocol1.0/MultiPort/Makefile b/c++/example/Protocol1.0/MultiPort/Makefile
deleted file mode 100644
index 0455dd1c3cf46453404212ee5249d9271ec2d55a..0000000000000000000000000000000000000000
--- a/c++/example/Protocol1.0/MultiPort/Makefile
+++ /dev/null
@@ -1,78 +0,0 @@
-##################################################
-# PROJECT: DXL Protocol 1.0 MultiPort Example Makefile
-# AUTHOR : ROBOTIS Ltd.
-##################################################
-
-#---------------------------------------------------------------------
-# Makefile template for projects using DXL SDK
-#
-# Please make sure to follow these instructions when setting up your
-# own copy of this file:
-#
-# 1- Enter the name of the target (the TARGET variable)
-# 2- Add additional source files to the SOURCES variable
-# 3- Add additional static library objects to the OBJECTS variable
-# if necessary
-# 4- Ensure that compiler flags, INCLUDES, and LIBRARIES are
-# appropriate to your needs
-#
-#
-# This makefile will link against several libraries, not all of which
-# are necessarily needed for your project. Please feel free to
-# remove libaries you do not need.
-#---------------------------------------------------------------------
-
-# *** ENTER THE TARGET NAME HERE ***
-TARGET = MultiPort
-
-# important directories used by assorted rules and other variables
-DIR_DXL = ../../..
-DIR_OBJS = .objects
-
-# compiler options
-CC = gcc
-CX = g++
-CCFLAGS = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall $(INCLUDES) -g
-CXFLAGS = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall $(INCLUDES) -g
-LNKCC = $(CX)
-LNKFLAGS = $(CXFLAGS) #-Wl,-rpath,$(DIR_THOR)/lib
-
-#---------------------------------------------------------------------
-# Core components (all of these are likely going to be needed)
-#---------------------------------------------------------------------
-INCLUDES += -I$(DIR_DXL)/include
-LIBRARIES += -ldxl
-
-#---------------------------------------------------------------------
-# Files
-#---------------------------------------------------------------------
-SOURCES = MultiPort.cpp \
- # *** OTHER SOURCES GO HERE ***
-
-OBJECTS = $(addsuffix .o,$(addprefix $(DIR_OBJS)/,$(basename $(notdir $(SOURCES)))))
-#OBJETCS += *** ADDITIONAL STATIC LIBRARIES GO HERE ***
-
-
-#---------------------------------------------------------------------
-# Compiling Rules
-#---------------------------------------------------------------------
-$(TARGET): make_directory $(OBJECTS)
- $(LNKCC) $(LNKFLAGS) $(OBJECTS) -o $(TARGET) $(LIBRARIES)
-
-all: $(TARGET)
-
-clean:
- rm -rf $(TARGET) $(DIR_OBJS) core *~ *.a *.so *.lo
-
-make_directory:
- mkdir -p $(DIR_OBJS)/
-
-$(DIR_OBJS)/%.o: %.c
- $(CC) $(CCFLAGS) -c $? -o $@
-
-$(DIR_OBJS)/%.o: %.cpp
- $(CX) $(CXFLAGS) -c $? -o $@
-
-#---------------------------------------------------------------------
-# End of Makefile
-#---------------------------------------------------------------------
diff --git a/c++/example/Protocol1.0/MultiPort/MultiPort.cpp b/c++/example/Protocol1.0/MultiPort/MultiPort.cpp
index 264391ee9c5d660e3a09c2a6de88d6e841f19c85..10dbabcfc0dd14ec6553d52b4fa7bc451cc107ee 100644
--- a/c++/example/Protocol1.0/MultiPort/MultiPort.cpp
+++ b/c++/example/Protocol1.0/MultiPort/MultiPort.cpp
@@ -9,42 +9,47 @@
// ********* Multi Port Example *********
//
//
-// Available DXL model on this example : All models using Protocol 1.0
-// This example is tested with a DXL MX-28, and two USB2DYNAMIXEL
-// Be sure that DXL MX properties are already set as %% ID : 1 / Baudnum : 1 (Baudrate : 1000000)
+// Available Dynamixel model on this example : All models using Protocol 1.0
+// This example is tested with a Dynamixel MX-28, and two USB2DYNAMIXEL
+// Be sure that Dynamixel MX properties are already set as %% ID : 1 / Baudnum : 1 (Baudrate : 1000000)
//
#ifdef __linux__
#include <unistd.h>
#include <fcntl.h>
-#include <getopt.h>
#include <termios.h>
+#elif defined(_WIN32) || defined(_WIN64)
+#include <conio.h>
#endif
-#include <stdio.h>
#include <stdlib.h>
-#include <string.h>
-
-#include "DynamixelSDK.h"
+#include <stdio.h>
+#include "DynamixelSDK.h" // Uses Dynamixel SDK library
// Control table address
-#define ADDR_MX_TORQUE_ENABLE 24
+#define ADDR_MX_TORQUE_ENABLE 24 // Control table address is different in Dynamixel model
#define ADDR_MX_GOAL_POSITION 30
#define ADDR_MX_PRESENT_POSITION 36
// Protocol version
-#define PROTOCOL_VERSION 1.0
+#define PROTOCOL_VERSION 1.0 // See which protocol version is used in the Dynamixel
// Default setting
-#define DXL1_ID 1 // DXL#1 ID:1
-#define DXL2_ID 2 // DXL#2 ID:2
+#define DXL1_ID 1 // Dynamixel#1 ID: 1
+#define DXL2_ID 2 // Dynamixel#2 ID: 2
#define BAUDRATE 1000000
-#define DEVICENAME1 "/dev/ttyUSB0"
-#define DEVICENAME2 "/dev/ttyUSB1"
+#define DEVICENAME1 "/dev/ttyUSB0" // Check which port is being used on your controller
+#define DEVICENAME2 "/dev/ttyUSB1" // ex) Windows: "COM1" Linux: "/dev/ttyUSB0"
-#define STOP_MOVING_MARGIN 10 // Criteria for considering DXL moving status as stopped
+#define TORQUE_ENABLE 1 // Value for enabling the torque
+#define TORQUE_DISABLE 0 // Value for disabling the torque
+#define DXL_MINIMUM_POSITION_VALUE 100 // Dynamixel will rotate between this value
+#define DXL_MAXIMUM_POSITION_VALUE 4000 // 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 10 // Dynamixel moving status threshold
-using namespace ROBOTIS;
+#define ESC_ASCII_VALUE 0x1b
+
+using namespace ROBOTIS; // Uses functions defined in ROBOTIS namespace
#ifdef __linux__
int _getch()
@@ -90,23 +95,24 @@ int _kbhit(void)
int main()
{
- // Initialize Porthandlers instance
+ // Initialize PortHandler instance
// Set the port path
// Get methods and members of PortHandlerLinux or PortHandlerWindows
PortHandler *portHandler1 = PortHandler::GetPortHandler(DEVICENAME1);
PortHandler *portHandler2 = PortHandler::GetPortHandler(DEVICENAME2);
+
// Initialize Packethandler instance
+ // Set the protocol version
+ // Get methods and members of Protocol1PacketHandler or Protocol2PacketHandler
PacketHandler *packetHandler = PacketHandler::GetPacketHandler(PROTOCOL_VERSION);
int index = 0;
- int dxl_comm_result = COMM_TX_FAIL; // Communication result
- int dxl_goal_position[2] = {100, 1000}; // Goal position
+ int dxl_comm_result = COMM_TX_FAIL; // Communication result
+ int dxl_goal_position[2] = {DXL_MINIMUM_POSITION_VALUE, DXL_MAXIMUM_POSITION_VALUE}; // Goal position
- UINT8_T dxl_torque_enable = 1; // Value for torque enable
- UINT8_T dxl_torque_disable = 0; // Value for torque disable
- UINT8_T dxl_error = 0; // DXL error
- UINT16_T dxl_present_position1 = 0, dxl_present_position2 = 0; // Present position
+ UINT8_T dxl_error = 0; // Dynamixel error
+ UINT16_T dxl1_present_position = 0, dxl2_present_position = 0; // Present position
// Open port1
if( portHandler1->OpenPort() )
@@ -137,7 +143,7 @@ int main()
// Set port1 baudrate
if(portHandler1->SetBaudRate(BAUDRATE) )
{
- printf( "Succeed to change the baudrate port1!\n" );
+ printf( "Succeed to change the baudrate port1!\n" );
}
else
{
@@ -150,7 +156,7 @@ int main()
// Set port2 baudrate
if(portHandler2->SetBaudRate(BAUDRATE) )
{
- printf( "Succeed to change the baudrate port2!\n" );
+ printf( "Succeed to change the baudrate port2!\n" );
}
else
{
@@ -160,36 +166,39 @@ int main()
return 0;
}
- // Enable DXL#1 Torque
- dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler1, DXL1_ID, ADDR_MX_TORQUE_ENABLE, dxl_torque_enable, &dxl_error);
+
+ // Enable Dynamixel#1 Torque
+ dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler1, DXL1_ID, ADDR_MX_TORQUE_ENABLE, TORQUE_ENABLE, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
- printf("DXL#%d successfully connected\n", DXL1_ID);
+ else
+ printf("Dynamixel#%d has been successfully connected \n", DXL1_ID);
- // Enable DXL#2 Torque
- dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler2, DXL2_ID, ADDR_MX_TORQUE_ENABLE, dxl_torque_enable, &dxl_error);
+ // Enable Dynamixel#2 Torque
+ dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler2, DXL2_ID, ADDR_MX_TORQUE_ENABLE, TORQUE_ENABLE, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
- printf("DXL#%d successfully connected\n", DXL2_ID);
+ else
+ printf("Dynamixel#%d has been successfully connected \n", DXL2_ID);
while(1)
{
- printf( "Press Enter key to continue!(press ESC and Enter to quit)\n" );
- if(_getch() == 0x1b)
+ printf("Press any key to continue! (or press ESC to quit!)\n");
+ if(_getch() == ESC_ASCII_VALUE)
break;
- // Write DXL#1 goal position
+ // Write Dynamixel#1 goal position
dxl_comm_result = packetHandler->Write2ByteTxRx(portHandler1, DXL1_ID, ADDR_MX_GOAL_POSITION, dxl_goal_position[index], &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
- // Write DXL#2 goal position
+ // Write Dynamixel#2 goal position
dxl_comm_result = packetHandler->Write2ByteTxRx(portHandler2, DXL2_ID, ADDR_MX_GOAL_POSITION, dxl_goal_position[index], &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
@@ -198,22 +207,23 @@ int main()
do
{
- // Read DXL#1 present position
- dxl_comm_result = packetHandler->Read2ByteTxRx(portHandler1, DXL1_ID, ADDR_MX_PRESENT_POSITION, &dxl_present_position1, &dxl_error);
+ // Read Dynamixel#1 present position
+ dxl_comm_result = packetHandler->Read2ByteTxRx(portHandler1, DXL1_ID, ADDR_MX_PRESENT_POSITION, &dxl1_present_position, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
- // Read DXL#2 present position
- dxl_comm_result = packetHandler->Read2ByteTxRx(portHandler2, DXL2_ID, ADDR_MX_PRESENT_POSITION, &dxl_present_position2, &dxl_error);
+ // Read Dynamixel#2 present position
+ dxl_comm_result = packetHandler->Read2ByteTxRx(portHandler2, DXL2_ID, ADDR_MX_PRESENT_POSITION, &dxl2_present_position, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
- printf("[ID:%03d] GoalPos:%03d PresPos:%03d\t[ID:%03d] GoalPos:%03d PresPos:%03d\n", DXL1_ID, dxl_goal_position[index], dxl_present_position1, DXL2_ID, dxl_goal_position[index], dxl_present_position2);
- }while((abs(dxl_goal_position[index] - dxl_present_position1) > STOP_MOVING_MARGIN) || (abs(dxl_goal_position[index] - dxl_present_position2) > STOP_MOVING_MARGIN));
+ 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 )
@@ -222,15 +232,15 @@ int main()
index = 0;
}
- // Disable DXL#1 Torque
- dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler1, DXL1_ID, ADDR_MX_TORQUE_ENABLE, dxl_torque_disable, &dxl_error);
+ // Disable Dynamixel#1 Torque
+ dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler1, DXL1_ID, ADDR_MX_TORQUE_ENABLE, TORQUE_DISABLE, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
- // Unable DXL#2 Torque
- dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler2, DXL2_ID, ADDR_MX_TORQUE_ENABLE, dxl_torque_disable, &dxl_error);
+ // Disable Dynamixel#2 Torque
+ dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler2, DXL2_ID, ADDR_MX_TORQUE_ENABLE, TORQUE_DISABLE, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
@@ -242,7 +252,5 @@ int main()
// Close port2
portHandler2->ClosePort();
- printf( "Press Enter key to terminate...\n" );
- _getch();
return 0;
}
diff --git a/c++/example/Protocol1.0/Ping/Makefile b/c++/example/Protocol1.0/Ping/Makefile
deleted file mode 100644
index f9206dea44a9a9da1e09baced3c74a05774ba6a9..0000000000000000000000000000000000000000
--- a/c++/example/Protocol1.0/Ping/Makefile
+++ /dev/null
@@ -1,78 +0,0 @@
-##################################################
-# PROJECT: DXL Protocol 1.0 Ping Example Makefile
-# AUTHOR : ROBOTIS Ltd.
-##################################################
-
-#---------------------------------------------------------------------
-# Makefile template for projects using DXL SDK
-#
-# Please make sure to follow these instructions when setting up your
-# own copy of this file:
-#
-# 1- Enter the name of the target (the TARGET variable)
-# 2- Add additional source files to the SOURCES variable
-# 3- Add additional static library objects to the OBJECTS variable
-# if necessary
-# 4- Ensure that compiler flags, INCLUDES, and LIBRARIES are
-# appropriate to your needs
-#
-#
-# This makefile will link against several libraries, not all of which
-# are necessarily needed for your project. Please feel free to
-# remove libaries you do not need.
-#---------------------------------------------------------------------
-
-# *** ENTER THE TARGET NAME HERE ***
-TARGET = Ping
-
-# important directories used by assorted rules and other variables
-DIR_DXL = ../../..
-DIR_OBJS = .objects
-
-# compiler options
-CC = gcc
-CX = g++
-CCFLAGS = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall $(INCLUDES) -g
-CXFLAGS = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall $(INCLUDES) -g
-LNKCC = $(CX)
-LNKFLAGS = $(CXFLAGS) #-Wl,-rpath,$(DIR_THOR)/lib
-
-#---------------------------------------------------------------------
-# Core components (all of these are likely going to be needed)
-#---------------------------------------------------------------------
-INCLUDES += -I$(DIR_DXL)/include
-LIBRARIES += -ldxl
-
-#---------------------------------------------------------------------
-# Files
-#---------------------------------------------------------------------
-SOURCES = Ping.cpp \
- # *** OTHER SOURCES GO HERE ***
-
-OBJECTS = $(addsuffix .o,$(addprefix $(DIR_OBJS)/,$(basename $(notdir $(SOURCES)))))
-#OBJETCS += *** ADDITIONAL STATIC LIBRARIES GO HERE ***
-
-
-#---------------------------------------------------------------------
-# Compiling Rules
-#---------------------------------------------------------------------
-$(TARGET): make_directory $(OBJECTS)
- $(LNKCC) $(LNKFLAGS) $(OBJECTS) -o $(TARGET) $(LIBRARIES)
-
-all: $(TARGET)
-
-clean:
- rm -rf $(TARGET) $(DIR_OBJS) core *~ *.a *.so *.lo
-
-make_directory:
- mkdir -p $(DIR_OBJS)/
-
-$(DIR_OBJS)/%.o: %.c
- $(CC) $(CCFLAGS) -c $? -o $@
-
-$(DIR_OBJS)/%.o: %.cpp
- $(CX) $(CXFLAGS) -c $? -o $@
-
-#---------------------------------------------------------------------
-# End of Makefile
-#---------------------------------------------------------------------
diff --git a/c++/example/Protocol1.0/Ping/Ping.cpp b/c++/example/Protocol1.0/Ping/Ping.cpp
index 92dfda6961808e0bd8b92a8a6db8ebe94704b1b8..ec3d7cc100572d2d549ba9e6c6174efa2ffa5cbb 100644
--- a/c++/example/Protocol1.0/Ping/Ping.cpp
+++ b/c++/example/Protocol1.0/Ping/Ping.cpp
@@ -9,33 +9,32 @@
// ********* Ping Example *********
//
//
-// Available DXL model on this example : All models using Protocol 1.0
-// This example is tested with a DXL MX-28, and an USB2DYNAMIXEL
-// Be sure that DXL MX properties are already set as %% ID : 1 / Baudnum : 1 (Baudrate : 1000000)
+// Available Dynamixel model on this example : All models using Protocol 1.0
+// This example is tested with a Dynamixel MX-28, and an USB2DYNAMIXEL
+// Be sure that Dynamixel MX properties are already set as %% ID : 1 / Baudnum : 1 (Baudrate : 1000000)
//
#ifdef __linux__
#include <unistd.h>
#include <fcntl.h>
-#include <getopt.h>
#include <termios.h>
+#elif defined(_WIN32) || defined(_WIN64)
+#include <conio.h>
#endif
#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "DynamixelSDK.h"
+#include "DynamixelSDK.h" // Uses Dynamixel SDK library
// Protocol version
-#define PROTOCOL_VERSION 1.0
+#define PROTOCOL_VERSION 1.0 // See which protocol version is used in the Dynamixel
// Default setting
-#define DXL_ID 1
+#define DXL_ID 1 // Dynamixel ID: 1
#define BAUDRATE 1000000
-#define DEVICENAME "/dev/ttyUSB0"
+#define DEVICENAME "/dev/ttyUSB0" // Check which port is being used on your controller
+ // ex) Windows: "COM1" Linux: "/dev/ttyUSB0"
-using namespace ROBOTIS;
+using namespace ROBOTIS; // Uses functions defined in ROBOTIS namespace
#ifdef __linux__
int _getch()
@@ -87,12 +86,14 @@ int main()
PortHandler *portHandler = PortHandler::GetPortHandler(DEVICENAME);
// Initialize Packethandler instance
+ // Set the protocol version
+ // Get methods and members of Protocol1PacketHandler or Protocol2PacketHandler
PacketHandler *packetHandler = PacketHandler::GetPacketHandler(PROTOCOL_VERSION);
- int dxl_comm_result = COMM_TX_FAIL; // Communication result
+ int dxl_comm_result = COMM_TX_FAIL; // Communication result
- UINT8_T dxl_error = 0; // DXL error
- UINT16_T dxl_model_number; // DXL model number
+ UINT8_T dxl_error = 0; // Dynamixel error
+ UINT16_T dxl_model_number; // Dynamixel model number
// Open port
if( portHandler->OpenPort() )
@@ -120,20 +121,18 @@ int main()
return 0;
}
- // Try to ping the DXL
- // Get DXL model number from the DXL
+ // Try to ping the Dynamixel
+ // Get Dynamixel model number
dxl_comm_result = packetHandler->Ping(portHandler, DXL_ID, &dxl_model_number, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
- printf("[ID:%03d] Ping Succeeded. DXL model number : %d\n", DXL_ID, dxl_model_number);
+ printf("[ID:%03d] Ping Succeeded. Dynamixel model number : %d\n", DXL_ID, dxl_model_number);
// Close port
portHandler->ClosePort();
- printf( "Press Enter key to terminate...\n" );
- _getch();
return 0;
}
diff --git a/c++/example/Protocol1.0/ReadWrite/Makefile b/c++/example/Protocol1.0/ReadWrite/Makefile
deleted file mode 100644
index 04a2f4bf453b01112c30c1cbdc09716090e2ede7..0000000000000000000000000000000000000000
--- a/c++/example/Protocol1.0/ReadWrite/Makefile
+++ /dev/null
@@ -1,78 +0,0 @@
-##################################################
-# PROJECT: DXL Protocol 1.0 Read/Write Example Makefile
-# AUTHOR : ROBOTIS Ltd.
-##################################################
-
-#---------------------------------------------------------------------
-# Makefile template for projects using DXL SDK
-#
-# Please make sure to follow these instructions when setting up your
-# own copy of this file:
-#
-# 1- Enter the name of the target (the TARGET variable)
-# 2- Add additional source files to the SOURCES variable
-# 3- Add additional static library objects to the OBJECTS variable
-# if necessary
-# 4- Ensure that compiler flags, INCLUDES, and LIBRARIES are
-# appropriate to your needs
-#
-#
-# This makefile will link against several libraries, not all of which
-# are necessarily needed for your project. Please feel free to
-# remove libaries you do not need.
-#---------------------------------------------------------------------
-
-# *** ENTER THE TARGET NAME HERE ***
-TARGET = ReadWrite
-
-# important directories used by assorted rules and other variables
-DIR_DXL = ../../..
-DIR_OBJS = .objects
-
-# compiler options
-CC = gcc
-CX = g++
-CCFLAGS = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall $(INCLUDES) -g
-CXFLAGS = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall $(INCLUDES) -g
-LNKCC = $(CX)
-LNKFLAGS = $(CXFLAGS) #-Wl,-rpath,$(DIR_THOR)/lib
-
-#---------------------------------------------------------------------
-# Core components (all of these are likely going to be needed)
-#---------------------------------------------------------------------
-INCLUDES += -I$(DIR_DXL)/include
-LIBRARIES += -ldxl
-
-#---------------------------------------------------------------------
-# Files
-#---------------------------------------------------------------------
-SOURCES = ReadWrite.cpp \
- # *** OTHER SOURCES GO HERE ***
-
-OBJECTS = $(addsuffix .o,$(addprefix $(DIR_OBJS)/,$(basename $(notdir $(SOURCES)))))
-#OBJETCS += *** ADDITIONAL STATIC LIBRARIES GO HERE ***
-
-
-#---------------------------------------------------------------------
-# Compiling Rules
-#---------------------------------------------------------------------
-$(TARGET): make_directory $(OBJECTS)
- $(LNKCC) $(LNKFLAGS) $(OBJECTS) -o $(TARGET) $(LIBRARIES)
-
-all: $(TARGET)
-
-clean:
- rm -rf $(TARGET) $(DIR_OBJS) core *~ *.a *.so *.lo
-
-make_directory:
- mkdir -p $(DIR_OBJS)/
-
-$(DIR_OBJS)/%.o: %.c
- $(CC) $(CCFLAGS) -c $? -o $@
-
-$(DIR_OBJS)/%.o: %.cpp
- $(CX) $(CXFLAGS) -c $? -o $@
-
-#---------------------------------------------------------------------
-# End of Makefile
-#---------------------------------------------------------------------
diff --git a/c++/example/Protocol1.0/ReadWrite/ReadWrite.cpp b/c++/example/Protocol1.0/ReadWrite/ReadWrite.cpp
index 1049cc67c0f168f617815eae74d610815bb2a8f8..d17b4e047573bc806259ca48286cbacddc74319f 100644
--- a/c++/example/Protocol1.0/ReadWrite/ReadWrite.cpp
+++ b/c++/example/Protocol1.0/ReadWrite/ReadWrite.cpp
@@ -17,31 +17,38 @@
#ifdef __linux__
#include <unistd.h>
#include <fcntl.h>
-#include <getopt.h>
#include <termios.h>
+#elif defined(_WIN32) || defined(_WIN64)
+#include <conio.h>
#endif
-#include <stdio.h>
#include <stdlib.h>
-#include <string.h>
-
-#include "DynamixelSDK.h"
+#include <stdio.h>
+#include "DynamixelSDK.h" // Uses Dynamixel SDK library
// Control table address
-#define ADDR_MX_TORQUE_ENABLE 24
+#define ADDR_MX_TORQUE_ENABLE 24 // Control table address is different in Dynamixel model
#define ADDR_MX_GOAL_POSITION 30
#define ADDR_MX_PRESENT_POSITION 36
-#define ADDR_MX_MOVING 46
// Protocol version
-#define PROTOCOL_VERSION 1.0
+#define PROTOCOL_VERSION 1.0 // See which protocol version is used in the Dynamixel
// Default setting
-#define DXL_ID 1
+#define DXL_ID 1 // Dynamixel ID: 1
#define BAUDRATE 1000000
-#define DEVICENAME "/dev/ttyUSB0"
+#define DEVICENAME "/dev/ttyUSB0" // Check which port is being used on your controller
+ // ex) Windows: "COM1" Linux: "/dev/ttyUSB0"
+
+#define TORQUE_ENABLE 1 // Value for enabling the torque
+#define TORQUE_DISABLE 0 // Value for disabling the torque
+#define DXL_MINIMUM_POSITION_VALUE 100 // Dynamixel will rotate between this value
+#define DXL_MAXIMUM_POSITION_VALUE 4000 // 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 10 // Dynamixel moving status threshold
+
+#define ESC_ASCII_VALUE 0x1b
-using namespace ROBOTIS;
+using namespace ROBOTIS; // Uses functions defined in ROBOTIS namespace
#ifdef __linux__
int _getch()
@@ -93,16 +100,15 @@ int main()
PortHandler *portHandler = PortHandler::GetPortHandler(DEVICENAME);
// Initialize Packethandler instance
+ // Set the protocol version
+ // Get methods and members of Protocol1PacketHandler or Protocol2PacketHandler
PacketHandler *packetHandler = PacketHandler::GetPacketHandler(PROTOCOL_VERSION);
int index = 0;
int dxl_comm_result = COMM_TX_FAIL; // Communication result
- int dxl_goal_position[2] = {100, 1000}; // Goal position
+ int dxl_goal_position[2] = {DXL_MINIMUM_POSITION_VALUE, DXL_MAXIMUM_POSITION_VALUE}; // Goal position
- UINT8_T dxl_torque_enable = 1; // Value for torque enable
- UINT8_T dxl_torque_disable = 0; // Torque unable
- UINT8_T dxl_error = 0; // DXL error
- UINT8_T dxl_moving = 0; // DXL moving status
+ UINT8_T dxl_error = 0; // Dynamixel error
UINT16_T dxl_present_position = 0; // Present position
// Open port
@@ -132,16 +138,18 @@ int main()
}
// Enable DXL Torque
- dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL_ID, ADDR_MX_TORQUE_ENABLE, dxl_torque_enable, &dxl_error);
+ dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL_ID, ADDR_MX_TORQUE_ENABLE, TORQUE_ENABLE, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
+ else
+ printf("Dynamixel has been successfully connected \n");
while(1)
{
- printf( "Press Enter key to continue!(press ESC and Enter to quit)\n" );
- if(_getch() == 0x1b)
+ printf("Press any key to continue! (or press ESC to quit!)\n");
+ if(_getch() == ESC_ASCII_VALUE)
break;
// Write goal position
@@ -162,13 +170,7 @@ int main()
printf("[ID:%03d] GoalPos:%03d PresPos:%03d\n", DXL_ID, dxl_goal_position[index], dxl_present_position);
- // Read Moving status
- dxl_comm_result = packetHandler->Read1ByteTxRx(portHandler, DXL_ID, ADDR_MX_MOVING, &dxl_moving, &dxl_error);
- if(dxl_comm_result != COMM_SUCCESS)
- packetHandler->PrintTxRxResult(dxl_comm_result);
- else if(dxl_error != 0)
- packetHandler->PrintRxPacketError(dxl_error);
- }while(dxl_moving == 1);
+ }while((abs(dxl_goal_position[index] - dxl_present_position) > DXL_MOVING_STATUS_THRESHOLD));
// Change goal position
if( index == 0 )
@@ -177,8 +179,8 @@ int main()
index = 0;
}
- // Disable DXL Torque
- dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL_ID, ADDR_MX_TORQUE_ENABLE, dxl_torque_disable, &dxl_error);
+ // Disable Dynamixel Torque
+ dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL_ID, ADDR_MX_TORQUE_ENABLE, TORQUE_DISABLE, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
@@ -187,7 +189,5 @@ int main()
// Close port
portHandler->ClosePort();
- printf( "Press Enter key to terminate...\n" );
- _getch();
return 0;
}
diff --git a/c++/example/Protocol1.0/Reset/Makefile b/c++/example/Protocol1.0/Reset/Makefile
deleted file mode 100644
index 23fe5a84d763efd3d421e725dc883e4ef6016055..0000000000000000000000000000000000000000
--- a/c++/example/Protocol1.0/Reset/Makefile
+++ /dev/null
@@ -1,78 +0,0 @@
-##################################################
-# PROJECT: DXL Protocol 1.0 Reset Example Makefile
-# AUTHOR : ROBOTIS Ltd.
-##################################################
-
-#---------------------------------------------------------------------
-# Makefile template for projects using DXL SDK
-#
-# Please make sure to follow these instructions when setting up your
-# own copy of this file:
-#
-# 1- Enter the name of the target (the TARGET variable)
-# 2- Add additional source files to the SOURCES variable
-# 3- Add additional static library objects to the OBJECTS variable
-# if necessary
-# 4- Ensure that compiler flags, INCLUDES, and LIBRARIES are
-# appropriate to your needs
-#
-#
-# This makefile will link against several libraries, not all of which
-# are necessarily needed for your project. Please feel free to
-# remove libaries you do not need.
-#---------------------------------------------------------------------
-
-# *** ENTER THE TARGET NAME HERE ***
-TARGET = Reset
-
-# important directories used by assorted rules and other variables
-DIR_DXL = ../../..
-DIR_OBJS = .objects
-
-# compiler options
-CC = gcc
-CX = g++
-CCFLAGS = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall $(INCLUDES) -g
-CXFLAGS = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall $(INCLUDES) -g
-LNKCC = $(CX)
-LNKFLAGS = $(CXFLAGS) #-Wl,-rpath,$(DIR_THOR)/lib
-
-#---------------------------------------------------------------------
-# Core components (all of these are likely going to be needed)
-#---------------------------------------------------------------------
-INCLUDES += -I$(DIR_DXL)/include
-LIBRARIES += -ldxl
-
-#---------------------------------------------------------------------
-# Files
-#---------------------------------------------------------------------
-SOURCES = Reset.cpp \
- # *** OTHER SOURCES GO HERE ***
-
-OBJECTS = $(addsuffix .o,$(addprefix $(DIR_OBJS)/,$(basename $(notdir $(SOURCES)))))
-#OBJETCS += *** ADDITIONAL STATIC LIBRARIES GO HERE ***
-
-
-#---------------------------------------------------------------------
-# Compiling Rules
-#---------------------------------------------------------------------
-$(TARGET): make_directory $(OBJECTS)
- $(LNKCC) $(LNKFLAGS) $(OBJECTS) -o $(TARGET) $(LIBRARIES)
-
-all: $(TARGET)
-
-clean:
- rm -rf $(TARGET) $(DIR_OBJS) core *~ *.a *.so *.lo
-
-make_directory:
- mkdir -p $(DIR_OBJS)/
-
-$(DIR_OBJS)/%.o: %.c
- $(CC) $(CCFLAGS) -c $? -o $@
-
-$(DIR_OBJS)/%.o: %.cpp
- $(CX) $(CXFLAGS) -c $? -o $@
-
-#---------------------------------------------------------------------
-# End of Makefile
-#---------------------------------------------------------------------
diff --git a/c++/example/Protocol1.0/Reset/Reset.cpp b/c++/example/Protocol1.0/Reset/Reset.cpp
index 6f35fe69f5bca5fe37901f9dc5ea645eedc3d3a7..7a602eed1a0187a51bb8bdb597b3356602119ec0 100644
--- a/c++/example/Protocol1.0/Reset/Reset.cpp
+++ b/c++/example/Protocol1.0/Reset/Reset.cpp
@@ -9,44 +9,46 @@
// ********* Factory Reset Example *********
//
//
-// Available DXL model on this example : All models using Protocol 1.0
-// This example is tested with a DXL MX-28, and an USB2DYNAMIXEL
-// Be sure that DXL PRO properties are already set as %% ID : 1 / Baudnum : 1 (Baudrate : 1000000)
+// Available Dynamixel model on this example : All models using Protocol 1.0
+// This example is tested with a Dynamixel MX-28, and an USB2DYNAMIXEL
+// Be sure that Dynamixel PRO properties are already set as %% ID : 1 / Baudnum : 1 (Baudrate : 1000000)
//
// Be aware that:
-// This example resets all properties of DXL to default values, such as %% ID : 1 / Baudnum : 34 (Baudrate : 57600)
+// This example resets all properties of Dynamixel to default values, such as %% ID : 1 / Baudnum : 34 (Baudrate : 57600)
//
#ifdef __linux__
#include <unistd.h>
#include <fcntl.h>
-#include <getopt.h>
#include <termios.h>
+#elif defined(_WIN32) || defined(_WIN64)
+#include <conio.h>
#endif
#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "DynamixelSDK.h"
+#include "DynamixelSDK.h" // Uses Dynamixel SDK library
// Control table address
-#define ADDR_MX_BAUDRATE 4
+#define ADDR_MX_BAUDRATE 4 // Control table address is different in Dynamixel model
// Protocol version
-#define PROTOCOL_VERSION 1.0
+#define PROTOCOL_VERSION 1.0 // See which protocol version is used in the Dynamixel
// Default setting
-#define DXL_ID 1
+#define DXL_ID 1 // Dynamixel ID: 1
#define BAUDRATE 1000000
-#define DEVICENAME "/dev/ttyUSB0"
+#define DEVICENAME "/dev/ttyUSB0" // Check which port is being used on your controller
+ // ex) Windows: "COM1" Linux: "/dev/ttyUSB0"
+
+#define FACTORYRST_DEFAULTBAUDRATE 57600 // Dynamixel baudrate set by factoryreset
+#define NEW_BAUDNUM 1 // New baudnum to recover Dynamixel baudrate as it was
+#define OPERATION_MODE 0x00 // Mode is unavailable in Protocol 1.0 Reset
-#define FACTORYRST_DEFAULTBAUDRATE 57600 // DXL baudrate set by factoryreset
-#define NEW_BAUDNUM 1 // New baudnum to recover DXL baudrate as it was
-#define OPERATION_MODE 0x00 // Mode is unavailable in Protocol 1.0 Reset
+#define TORQUE_ENABLE 1 // Value for enabling the torque
+#define TORQUE_DISABLE 0 // Value for disabling the torque
-using namespace ROBOTIS;
+using namespace ROBOTIS; // Uses functions defined in ROBOTIS namespace
#ifdef __linux__
int _getch()
@@ -90,6 +92,15 @@ int _kbhit(void)
}
#endif
+void msecSleep(int waitTime)
+{
+#ifdef __linux__
+ usleep(waitTime * 1000);
+#elif defined(_WIN32) || defined(_WIN64)
+ Sleep(waitTime);
+#endif
+}
+
int main()
{
// Initialize PortHandler instance
@@ -98,12 +109,14 @@ int main()
PortHandler *portHandler = PortHandler::GetPortHandler(DEVICENAME);
// Initialize Packethandler instance
+ // Set the protocol version
+ // Get methods and members of Protocol1PacketHandler or Protocol2PacketHandler
PacketHandler *packetHandler = PacketHandler::GetPacketHandler(PROTOCOL_VERSION);
- int dxl_comm_result = COMM_TX_FAIL; // Communication result
+ int dxl_comm_result = COMM_TX_FAIL; // Communication result
- UINT8_T dxl_baudnum_read; // Read baudnum
- UINT8_T dxl_error = 0; // DXL error
+ UINT8_T dxl_error = 0; // Dynamixel error
+ UINT8_T dxl_baudnum_read; // Read baudnum
// Open port
if( portHandler->OpenPort() )
@@ -148,14 +161,14 @@ int main()
// Wait for reset
printf("Wait for reset...\n");
- usleep(2000 * 1000);
+ msecSleep(2000);
- printf("[ID:%03d] FactoryReset Success!\n", DXL_ID);
+ printf("[ID:%03d] FactoryReset Success!\n", DXL_ID);
- // Set controller baudrate to dxl default baudrate
+ // Set controller baudrate to dxl default baudrate
if(portHandler->SetBaudRate(FACTORYRST_DEFAULTBAUDRATE))
{
- printf( "Succeed to change the controller baudrate to : %d\n", FACTORYRST_DEFAULTBAUDRATE );
+ printf( "Succeed to change the controller baudrate to : %d\n", FACTORYRST_DEFAULTBAUDRATE );
}
else
{
@@ -165,27 +178,23 @@ int main()
return 0;
}
- // Read DXL baudnum
+ // Read Dynamixel baudnum
dxl_comm_result = packetHandler->Read1ByteTxRx(portHandler, DXL_ID, ADDR_MX_BAUDRATE, &dxl_baudnum_read, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
- {
packetHandler->PrintTxRxResult(dxl_comm_result);
- return 0;
- }
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
- printf("[ID:%03d] DXL baudnum is now : %d\n", DXL_ID, dxl_baudnum_read);
+ else
+ printf("[ID:%03d] Dynamixel baudnum is now : %d\n", DXL_ID, dxl_baudnum_read);
// Write new baudnum
dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL_ID, ADDR_MX_BAUDRATE, NEW_BAUDNUM, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
- {
packetHandler->PrintTxRxResult(dxl_comm_result);
- return 0;
- }
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
- printf("[ID:%03d] Set DXL baudnum to : %d\n", DXL_ID, NEW_BAUDNUM);
+ else
+ printf("[ID:%03d] Set Dynamixel baudnum to : %d\n", DXL_ID, NEW_BAUDNUM);
// Set port baudrate to BAUDRATE
if(portHandler->SetBaudRate(BAUDRATE))
@@ -200,23 +209,19 @@ int main()
return 0;
}
- usleep(200 * 1000);
+ msecSleep(200);
- // Read DXL baudnum
+ // Read Dynamixel baudnum
dxl_comm_result = packetHandler->Read1ByteTxRx(portHandler, DXL_ID, ADDR_MX_BAUDRATE, &dxl_baudnum_read, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
- {
packetHandler->PrintTxRxResult(dxl_comm_result);
- return 0;
- }
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
- printf("[ID:%03d] DXL Baudnum is now : %d\n", DXL_ID, dxl_baudnum_read);
+ else
+ printf("[ID:%03d] Dynamixel Baudnum is now : %d\n", DXL_ID, dxl_baudnum_read);
// Close port
portHandler->ClosePort();
- printf( "Press Enter key to terminate...\n" );
- _getch();
return 0;
}
diff --git a/c++/example/Protocol1.0/SyncWrite/Makefile b/c++/example/Protocol1.0/SyncWrite/Makefile
deleted file mode 100644
index ac4fc759836baf1f1ada2b709b64066f39d1b91c..0000000000000000000000000000000000000000
--- a/c++/example/Protocol1.0/SyncWrite/Makefile
+++ /dev/null
@@ -1,78 +0,0 @@
-##################################################
-# PROJECT: DXL Protocol 1.0 SyncWrite Example Makefile
-# AUTHOR : ROBOTIS Ltd.
-##################################################
-
-#---------------------------------------------------------------------
-# Makefile template for projects using DXL SDK
-#
-# Please make sure to follow these instructions when setting up your
-# own copy of this file:
-#
-# 1- Enter the name of the target (the TARGET variable)
-# 2- Add additional source files to the SOURCES variable
-# 3- Add additional static library objects to the OBJECTS variable
-# if necessary
-# 4- Ensure that compiler flags, INCLUDES, and LIBRARIES are
-# appropriate to your needs
-#
-#
-# This makefile will link against several libraries, not all of which
-# are necessarily needed for your project. Please feel free to
-# remove libaries you do not need.
-#---------------------------------------------------------------------
-
-# *** ENTER THE TARGET NAME HERE ***
-TARGET = SyncWrite
-
-# important directories used by assorted rules and other variables
-DIR_DXL = ../../..
-DIR_OBJS = .objects
-
-# compiler options
-CC = gcc
-CX = g++
-CCFLAGS = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall $(INCLUDES) -g
-CXFLAGS = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall $(INCLUDES) -g
-LNKCC = $(CX)
-LNKFLAGS = $(CXFLAGS) #-Wl,-rpath,$(DIR_THOR)/lib
-
-#---------------------------------------------------------------------
-# Core components (all of these are likely going to be needed)
-#---------------------------------------------------------------------
-INCLUDES += -I$(DIR_DXL)/include
-LIBRARIES += -ldxl
-
-#---------------------------------------------------------------------
-# Files
-#---------------------------------------------------------------------
-SOURCES = SyncWrite.cpp \
- # *** OTHER SOURCES GO HERE ***
-
-OBJECTS = $(addsuffix .o,$(addprefix $(DIR_OBJS)/,$(basename $(notdir $(SOURCES)))))
-#OBJETCS += *** ADDITIONAL STATIC LIBRARIES GO HERE ***
-
-
-#---------------------------------------------------------------------
-# Compiling Rules
-#---------------------------------------------------------------------
-$(TARGET): make_directory $(OBJECTS)
- $(LNKCC) $(LNKFLAGS) $(OBJECTS) -o $(TARGET) $(LIBRARIES)
-
-all: $(TARGET)
-
-clean:
- rm -rf $(TARGET) $(DIR_OBJS) core *~ *.a *.so *.lo
-
-make_directory:
- mkdir -p $(DIR_OBJS)/
-
-$(DIR_OBJS)/%.o: %.c
- $(CC) $(CCFLAGS) -c $? -o $@
-
-$(DIR_OBJS)/%.o: %.cpp
- $(CX) $(CXFLAGS) -c $? -o $@
-
-#---------------------------------------------------------------------
-# End of Makefile
-#---------------------------------------------------------------------
diff --git a/c++/example/Protocol1.0/SyncWrite/SyncWrite.cpp b/c++/example/Protocol1.0/SyncWrite/SyncWrite.cpp
index 4652444e82663b7f652c8881e04d93fc104fca43..00d5a457b95d2f09693c1c318c851aea2e62e2e2 100644
--- a/c++/example/Protocol1.0/SyncWrite/SyncWrite.cpp
+++ b/c++/example/Protocol1.0/SyncWrite/SyncWrite.cpp
@@ -9,45 +9,51 @@
// ********* Sync Write Example *********
//
//
-// Available DXL model on this example : All models using Protocol 1.0
-// This example is tested with two DXL MX-28, and an USB2DYNAMIXEL
-// Be sure that DXL MX properties are already set as %% ID : 1 / Baudnum : 1 (Baudrate : 1000000)
+// Available Dynamixel model on this example : All models using Protocol 1.0
+// This example is tested with two Dynamixel MX-28, and an USB2DYNAMIXEL
+// Be sure that Dynamixel MX properties are already set as %% ID : 1 / Baudnum : 1 (Baudrate : 1000000)
//
#ifdef __linux__
#include <unistd.h>
#include <fcntl.h>
-#include <getopt.h>
#include <termios.h>
+#elif defined(_WIN32) || defined(_WIN64)
+#include <conio.h>
#endif
-#include <stdio.h>
#include <stdlib.h>
-#include <string.h>
-#include "DynamixelSDK.h"
+#include <stdio.h>
+#include "DynamixelSDK.h" // Uses Dynamixel SDK library
// Control table address
-#define ADDR_MX_TORQUE_ENABLE 24
+#define ADDR_MX_TORQUE_ENABLE 24 // Control table address is different in Dynamixel model
#define ADDR_MX_GOAL_POSITION 30
#define ADDR_MX_PRESENT_POSITION 36
// Data Byte Length
-#define LEN_MX_TORQUE_ENABLE 1
#define LEN_MX_GOAL_POSITION 2
#define LEN_MX_PRESENT_POSITION 2
// Protocol version
-#define PROTOCOL_VERSION 1.0
+#define PROTOCOL_VERSION 1.0 // See which protocol version is used in the Dynamixel
// Default setting
-#define DXL1_ID 1 // DXL#1 ID:1
-#define DXL2_ID 2 // DXL#2 ID:2
+#define DXL1_ID 1 // Dynamixel#1 ID: 1
+#define DXL2_ID 2 // Dynamixel#2 ID: 2
#define BAUDRATE 1000000
-#define DEVICENAME "/dev/ttyUSB0"
+#define DEVICENAME "/dev/ttyUSB0" // Check which port is being used on your controller
+ // ex) Windows: "COM1" Linux: "/dev/ttyUSB0"
-#define STOP_MOVING_MARGIN 10 // Criteria for considering DXL moving status as stopped
+#define TORQUE_ENABLE 1 // Value for enabling the torque
+#define TORQUE_DISABLE 0 // Value for disabling the torque
+#define DXL_MINIMUM_POSITION_VALUE 100 // Dynamixel will rotate between this value
+#define DXL_MAXIMUM_POSITION_VALUE 4000 // 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 10 // Dynamixel moving status threshold
-using namespace ROBOTIS;
+#define ESC_ASCII_VALUE 0x1b
+
+using namespace ROBOTIS; // Uses functions defined in ROBOTIS namespace
#ifdef __linux__
int _getch()
@@ -99,21 +105,21 @@ int main()
PortHandler *portHandler = PortHandler::GetPortHandler(DEVICENAME);
// Initialize Packethandler instance
+ // Set the protocol version
+ // Get methods and members of Protocol1PacketHandler or Protocol2PacketHandler
PacketHandler *packetHandler = PacketHandler::GetPacketHandler(PROTOCOL_VERSION);
// Initialize Groupsyncwrite instance
- GroupSyncWrite groupSyncWrite_GoalPos(portHandler, packetHandler, ADDR_MX_GOAL_POSITION, LEN_MX_GOAL_POSITION);
+ GroupSyncWrite groupSyncWrite(portHandler, packetHandler, ADDR_MX_GOAL_POSITION, LEN_MX_GOAL_POSITION);
int index = 0;
- int dxl_comm_result = COMM_TX_FAIL; // Communication result
- int dxl_addparam_result = false; // AddParam result
- int dxl_goal_position[2] = {100, 1000}; // Goal position
+ int dxl_comm_result = COMM_TX_FAIL; // Communication result
+ bool dxl_addparam_result = false; // AddParam result
+ int dxl_goal_position[2] = {DXL_MINIMUM_POSITION_VALUE, DXL_MAXIMUM_POSITION_VALUE}; // Goal position
- UINT8_T dxl_torque_enable = 1; // Value for torque enable
- UINT8_T dxl_torque_disable = 0; // Value for torque disable
- UINT8_T dxl_error = 0; // DXL error
+ UINT8_T dxl_error = 0; // Dynamixel error
UINT8_T param_goal_position[2];
- UINT16_T dxl_present_position1, dxl_present_position2; // Present position
+ UINT16_T dxl1_present_position = 0, dxl2_present_position = 0; // Present position
// Open port
if( portHandler->OpenPort() )
@@ -141,48 +147,44 @@ int main()
return 0;
}
- // Enable DXL#1 Torque
- dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL1_ID, ADDR_MX_TORQUE_ENABLE, dxl_torque_enable, &dxl_error);
+ // Enable Dynamixel#1 Torque
+ dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL1_ID, ADDR_MX_TORQUE_ENABLE, TORQUE_ENABLE, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
- {
packetHandler->PrintTxRxResult(dxl_comm_result);
- return 0;
- }
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
- printf("DXL#%d successfully connected\n", DXL1_ID);
+ else
+ printf("Dynamixel#%d has been successfully connected \n", DXL1_ID);
- // Enable DXL#2 Torque
- dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL2_ID, ADDR_MX_TORQUE_ENABLE, dxl_torque_enable, &dxl_error);
+ // Enable Dynamixel#2 Torque
+ dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL2_ID, ADDR_MX_TORQUE_ENABLE, TORQUE_ENABLE, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
- {
packetHandler->PrintTxRxResult(dxl_comm_result);
- return 0;
- }
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
- printf("DXL#%d successfully connected\n", DXL2_ID);
+ else
+ printf("Dynamixel#%d has been successfully connected \n", DXL2_ID);
while(1)
{
- printf( "Press Enter key to continue!(press ESC and Enter to quit)\n" );
- if(_getch() == 0x1b)
+ printf("Press any key to continue! (or press ESC to quit!)\n");
+ if(_getch() == ESC_ASCII_VALUE)
break;
// Allocate goal position value into byte array
param_goal_position[0] = DXL_LOBYTE(dxl_goal_position[index]);
param_goal_position[1] = DXL_HIBYTE(dxl_goal_position[index]);
- // Add DXL#1 goal position value to the Syncwrite storage
- dxl_addparam_result = groupSyncWrite_GoalPos.AddParam(DXL1_ID, param_goal_position);
+ // Add Dynamixel#1 goal position value to the Syncwrite storage
+ dxl_addparam_result = groupSyncWrite.AddParam(DXL1_ID, param_goal_position);
if( dxl_addparam_result != true )
{
fprintf(stderr, "[ID:%03d] groupSyncWrite addparam failed", DXL1_ID);
return 0;
}
- // Add DXL#2 goal position value to the Syncwrite parameter storage
- dxl_addparam_result = groupSyncWrite_GoalPos.AddParam(DXL2_ID, param_goal_position);
+ // Add Dynamixel#2 goal position value to the Syncwrite parameter storage
+ dxl_addparam_result = groupSyncWrite.AddParam(DXL2_ID, param_goal_position);
if( dxl_addparam_result != true )
{
fprintf(stderr, "[ID:%03d] groupSyncWrite addparam failed", DXL2_ID);
@@ -190,32 +192,32 @@ int main()
}
// Syncwrite goal position
- dxl_comm_result = groupSyncWrite_GoalPos.TxPacket();
+ dxl_comm_result = groupSyncWrite.TxPacket();
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
- else if(dxl_error != 0)
- packetHandler->PrintRxPacketError(dxl_error);
// Clear syncwrite parameter storage
- groupSyncWrite_GoalPos.ClearParam();
+ groupSyncWrite.ClearParam();
- do{
- // Read DXL#1 present position
- dxl_comm_result = packetHandler->Read2ByteTxRx(portHandler, DXL1_ID, ADDR_MX_PRESENT_POSITION, &dxl_present_position1, &dxl_error);
+ do
+ {
+ // Read Dynamixel#1 present position
+ dxl_comm_result = packetHandler->Read2ByteTxRx(portHandler, DXL1_ID, ADDR_MX_PRESENT_POSITION, &dxl1_present_position, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
- // Read DXL#2 present position
- dxl_comm_result = packetHandler->Read2ByteTxRx(portHandler, DXL2_ID, ADDR_MX_PRESENT_POSITION, &dxl_present_position2, &dxl_error);
+ // Read Dynamixel#2 present position
+ dxl_comm_result = packetHandler->Read2ByteTxRx(portHandler, DXL2_ID, ADDR_MX_PRESENT_POSITION, &dxl2_present_position, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
- printf("[ID:%03d] GoalPos:%03d PresPos:%03d\t[ID:%03d] GoalPos:%03d PresPos:%03d\n", DXL1_ID, dxl_goal_position[index], dxl_present_position1, DXL2_ID, dxl_goal_position[index], dxl_present_position2);
- }while((abs(dxl_goal_position[index] - dxl_present_position1) > STOP_MOVING_MARGIN) || (abs(dxl_goal_position[index] - dxl_present_position2) > STOP_MOVING_MARGIN));
+ 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 )
@@ -224,24 +226,23 @@ int main()
index = 0;
}
- // Disable DXL#1 Torque
- dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL1_ID, ADDR_MX_TORQUE_ENABLE, dxl_torque_disable, &dxl_error);
+ // Disable Dynamixel#1 Torque
+ dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL1_ID, ADDR_MX_TORQUE_ENABLE, TORQUE_DISABLE, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
- // Disable DXL#2 Torque
- dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL2_ID, ADDR_MX_TORQUE_ENABLE, dxl_torque_disable, &dxl_error);
+ // Disable Dynamixel#2 Torque
+ dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL2_ID, ADDR_MX_TORQUE_ENABLE, TORQUE_DISABLE, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
+
// Close port
portHandler->ClosePort();
- printf( "Press Enter key to terminate...\n" );
- _getch();
return 0;
}
diff --git a/c++/example/Protocol2.0/BroadcastPing/BroadcastPing.cpp b/c++/example/Protocol2.0/BroadcastPing/BroadcastPing.cpp
index 5747614173906b9299ddcf9f606cd7e39deb7a25..626888b84bd995ce534ee50c197e0746d45280a9 100644
--- a/c++/example/Protocol2.0/BroadcastPing/BroadcastPing.cpp
+++ b/c++/example/Protocol2.0/BroadcastPing/BroadcastPing.cpp
@@ -9,45 +9,44 @@
// ********* BroadcastPing Example *********
//
//
-// Available DXL model on this example : All models using Protocol 2.0
-// This example is tested with two DXL PRO 54-200, and an USB2DYNAMIXEL
-// Be sure that DXL PRO properties are already set as %% ID : 1 / Baudnum : 3 (Baudrate : 1000000) / Min voltage limit : under 110 (when using 12V power supplement)
+// Available Dynamixel model on this example : All models using Protocol 2.0
+// This example is tested with two Dynamixel PRO 54-200, and an USB2DYNAMIXEL
+// Be sure that Dynamixel PRO properties are already set as %% ID : 1 / Baudnum : 3 (Baudrate : 1000000)
//
#ifdef __linux__
#include <unistd.h>
#include <fcntl.h>
-#include <getopt.h>
#include <termios.h>
+#elif defined(_WIN32) || defined(_WIN64)
+#include <conio.h>
#endif
#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
#include <vector>
-
-#include "DynamixelSDK.h"
+#include "DynamixelSDK.h" // Uses Dynamixel SDK library
// Protocol version
-#define PROTOCOL_VERSION 2.0
+#define PROTOCOL_VERSION 2.0 // See which protocol version is used in the Dynamixel
// Default setting
#define BAUDRATE 1000000
-#define DEVICENAME "/dev/ttyUSB0"
+#define DEVICENAME "/dev/ttyUSB0" // Check which port is being used on your controller
+ // ex) Windows: "COM1" Linux: "/dev/ttyUSB0"
-using namespace ROBOTIS;
+using namespace ROBOTIS; // Uses functions defined in ROBOTIS namespace
#ifdef __linux__
int _getch()
{
struct termios oldt, newt;
int ch;
- tcgetattr(STDIN_FILENO, &oldt);
+ tcgetattr( STDIN_FILENO, &oldt );
newt = oldt;
newt.c_lflag &= ~(ICANON | ECHO);
- tcsetattr(STDIN_FILENO, TCSANOW, &newt);
+ tcsetattr( STDIN_FILENO, TCSANOW, &newt );
ch = getchar();
- tcsetattr(STDIN_FILENO, TCSANOW, &oldt);
+ tcsetattr( STDIN_FILENO, TCSANOW, &oldt );
return ch;
}
@@ -87,54 +86,53 @@ int main()
PortHandler *portHandler = PortHandler::GetPortHandler(DEVICENAME);
// Initialize Packethandler instance
+ // Set the protocol version
+ // Get methods and members of Protocol1PacketHandler or Protocol2PacketHandler
PacketHandler *packetHandler = PacketHandler::GetPacketHandler(PROTOCOL_VERSION);
- int dxl_comm_result = COMM_TX_FAIL; // Communication result
+ int dxl_comm_result = COMM_TX_FAIL; // Communication result
- std::vector<UINT8_T> vec; // DXL data storages
+ std::vector<UINT8_T> vec; // Dynamixel data storages
// Open port
- if(portHandler->OpenPort())
+ if( portHandler->OpenPort() )
{
- printf("Succeeded to open the port!\n");
+ printf( "Succeeded to open the port!\n" );
}
else
{
- printf("Failed to open the port!\n");
- printf("Press any key to terminate...\n");
+ printf( "Failed to open the port!\n" );
+ printf( "Press any key to terminate...\n" );
_getch();
return 0;
}
// Set port baudrate
- if( portHandler->SetBaudRate(BAUDRATE))
+ if( portHandler->SetBaudRate(BAUDRATE) )
{
- printf("Succeeded to change the baudrate!\n");
+ printf( "Succeeded to change the baudrate!\n" );
}
else
{
- printf("Failed to change the baudrate!\n");
- printf("Press any key to terminate...\n");
+ printf( "Failed to change the baudrate!\n" );
+ printf( "Press any key to terminate...\n" );
_getch();
return 0;
}
- // Try to broadcast ping the DXL
+ // Try to broadcast ping the Dynamixel
dxl_comm_result = packetHandler->BroadcastPing(portHandler, vec);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
- // Try to broadcastping the DXL
- printf("Detected DXL : \n");
+ printf("Detected Dynamixel : \n");
for(int i = 0; i < (int)vec.size(); i++)
{
- printf("[ID:%03d]\n", vec.at(i));
+ printf("[ID:%03d]\n", vec.at(i));
}
// Close port
portHandler->ClosePort();
- printf("Press Enter key to terminate...\n");
- _getch();
return 0;
}
diff --git a/c++/example/Protocol2.0/BroadcastPing/Makefile b/c++/example/Protocol2.0/BroadcastPing/Makefile
deleted file mode 100644
index 3cfeffafc9e32f8226390308bf797548c09e97b5..0000000000000000000000000000000000000000
--- a/c++/example/Protocol2.0/BroadcastPing/Makefile
+++ /dev/null
@@ -1,78 +0,0 @@
-##################################################
-# PROJECT: DXL Protocol 2.0 BroadcastPing Example Makefile
-# AUTHOR : ROBOTIS Ltd.
-##################################################
-
-#---------------------------------------------------------------------
-# Makefile template for projects using DXL SDK
-#
-# Please make sure to follow these instructions when setting up your
-# own copy of this file:
-#
-# 1- Enter the name of the target (the TARGET variable)
-# 2- Add additional source files to the SOURCES variable
-# 3- Add additional static library objects to the OBJECTS variable
-# if necessary
-# 4- Ensure that compiler flags, INCLUDES, and LIBRARIES are
-# appropriate to your needs
-#
-#
-# This makefile will link against several libraries, not all of which
-# are necessarily needed for your project. Please feel free to
-# remove libaries you do not need.
-#---------------------------------------------------------------------
-
-# *** ENTER THE TARGET NAME HERE ***
-TARGET = BroadcastPing
-
-# important directories used by assorted rules and other variables
-DIR_DXL = ../../..
-DIR_OBJS = .objects
-
-# compiler options
-CC = gcc
-CX = g++
-CCFLAGS = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall $(INCLUDES) -g
-CXFLAGS = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall $(INCLUDES) -g
-LNKCC = $(CX)
-LNKFLAGS = $(CXFLAGS) #-Wl,-rpath,$(DIR_THOR)/lib
-
-#---------------------------------------------------------------------
-# Core components (all of these are likely going to be needed)
-#---------------------------------------------------------------------
-INCLUDES += -I$(DIR_DXL)/include
-LIBRARIES += -ldxl
-
-#---------------------------------------------------------------------
-# Files
-#---------------------------------------------------------------------
-SOURCES = BroadcastPing.cpp \
- # *** OTHER SOURCES GO HERE ***
-
-OBJECTS = $(addsuffix .o,$(addprefix $(DIR_OBJS)/,$(basename $(notdir $(SOURCES)))))
-#OBJETCS += *** ADDITIONAL STATIC LIBRARIES GO HERE ***
-
-
-#---------------------------------------------------------------------
-# Compiling Rules
-#---------------------------------------------------------------------
-$(TARGET): make_directory $(OBJECTS)
- $(LNKCC) $(LNKFLAGS) $(OBJECTS) -o $(TARGET) $(LIBRARIES)
-
-all: $(TARGET)
-
-clean:
- rm -rf $(TARGET) $(DIR_OBJS) core *~ *.a *.so *.lo
-
-make_directory:
- mkdir -p $(DIR_OBJS)/
-
-$(DIR_OBJS)/%.o: %.c
- $(CC) $(CCFLAGS) -c $? -o $@
-
-$(DIR_OBJS)/%.o: %.cpp
- $(CX) $(CXFLAGS) -c $? -o $@
-
-#---------------------------------------------------------------------
-# End of Makefile
-#---------------------------------------------------------------------
diff --git a/c++/example/Protocol2.0/BulkReadWrite/BulkReadWrite.cpp b/c++/example/Protocol2.0/BulkReadWrite/BulkReadWrite.cpp
index aa9e2867fb0f5f4d716a819f9e1bf828de1e3a10..301b53569ecf5b6099b6207243d8fd166d44a9ff 100644
--- a/c++/example/Protocol2.0/BulkReadWrite/BulkReadWrite.cpp
+++ b/c++/example/Protocol2.0/BulkReadWrite/BulkReadWrite.cpp
@@ -9,48 +9,53 @@
// ********* Bulk Read and Bulk Write Example *********
//
//
-// Available DXL model on this example : All models using Protocol 2.0
-// This example is tested with two DXL PRO 54-200, and an USB2DYNAMIXEL
-// Be sure that DXL PRO properties are already set as %% ID : 1 and 2 / Baudnum : 3 (Baudrate : 1000000) / Min voltage limit : under 110 (DXL hardware error would be occurred when it is supplied by 12V power supplement)
+// Available Dynamixel model on this example : All models using Protocol 2.0
+// This example is tested with two Dynamixel PRO 54-200, and an USB2DYNAMIXEL
+// Be sure that Dynamixel PRO properties are already set as %% ID : 1 and 2 / Baudnum : 3 (Baudrate : 1000000)
//
#ifdef __linux__
#include <unistd.h>
#include <fcntl.h>
-#include <getopt.h>
#include <termios.h>
+#elif defined(_WIN32) || defined(_WIN64)
+#include <conio.h>
#endif
-#include <stdio.h>
#include <stdlib.h>
-#include <string.h>
-
-#include "DynamixelSDK.h"
+#include <stdio.h>
+#include "DynamixelSDK.h" // Uses Dynamixel SDK library
// Control table address
-#define ADDR_PRO_TORQUE_ENABLE 562
+#define ADDR_PRO_TORQUE_ENABLE 562 // Control table address is different in Dynamixel model
#define ADDR_PRO_LED_RED 563
#define ADDR_PRO_GOAL_POSITION 596
#define ADDR_PRO_PRESENT_POSITION 611
// Data Byte Length
#define LEN_PRO_LED_RED 1
-#define LEN_PRO_TORQUE_ENABLE 1
#define LEN_PRO_GOAL_POSITION 4
#define LEN_PRO_PRESENT_POSITION 4
// Protocol version
-#define PROTOCOL_VERSION 2.0
+#define PROTOCOL_VERSION 2.0 // See which protocol version is used in the Dynamixel
// Default setting
-#define DXL1_ID 1 // DXL#1 ID:1
-#define DXL2_ID 2 // DXL#2 ID:2
+#define DXL1_ID 1 // Dynamixel#1 ID: 1
+#define DXL2_ID 2 // Dynamixel#2 ID: 2
#define BAUDRATE 1000000
-#define DEVICENAME "/dev/ttyUSB0"
+#define DEVICENAME "/dev/ttyUSB0" // Check which port is being used on your controller
+ // ex) Windows: "COM1" Linux: "/dev/ttyUSB0"
-#define STOP_MOVING_MARGIN 20 // Criteria for considering DXL moving status as stopped
+#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
-using namespace ROBOTIS;
+#define ESC_ASCII_VALUE 0x1b
+
+using namespace ROBOTIS; // Uses functions defined in ROBOTIS namespace
#ifdef __linux__
int _getch()
@@ -102,43 +107,43 @@ int main()
PortHandler *portHandler = PortHandler::GetPortHandler(DEVICENAME);
// Initialize Packethandler instance
+ // Set the protocol version
+ // Get methods and members of Protocol1PacketHandler or Protocol2PacketHandler
PacketHandler *packetHandler = PacketHandler::GetPacketHandler(PROTOCOL_VERSION);
// Initialize GroupBulkWrite instance
GroupBulkWrite groupBulkWrite(portHandler, packetHandler);
- // Initialize GroupBulkRead instance
+ // Initialize Groupbulkread instance
GroupBulkRead groupBulkRead(portHandler, packetHandler);
int index = 0;
- int dxl_comm_result = COMM_TX_FAIL; // Communication result
- int dxl_addparam_result = false; // AddParam result
- int dxl_getdata_result = false; // GetParam result
- int dxl_goal_position[2] = {-150000, 150000}; // Goal position
-
- UINT8_T dxl_torque_enable = 1; // Value for torque enable
- UINT8_T dxl_torque_disable = 0; // Value for torque disable
- UINT8_T dxl_error = 0; // DXL error
- UINT8_T dxl_led_value[2] = {0x00, 0xFF}; // DXL LED value for write
+ 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
+ UINT8_T dxl_led_value[2] = {0x00, 0xFF}; // Dynamixel LED value for write
UINT8_T param_goal_position[4];
- UINT8_T dxl_led_value_read2; // DXL LED value for read
- INT32_T dxl_present_position1; // Present position
+ INT32_T dxl1_present_position = 0; // Present position
+ UINT8_T dxl2_led_value_read; // Dynamixel LED value for read
// Open port
if( portHandler->OpenPort() )
{
- printf("Succeeded to open the port!\n");
+ printf( "Succeeded to open the port!\n" );
}
else
{
- printf("Failed to open the port!\n");
- printf("Press any key to terminate...\n");
+ printf( "Failed to open the port!\n" );
+ printf( "Press any key to terminate...\n" );
_getch();
return 0;
}
// Set port baudrate
- if(portHandler->SetBaudRate(BAUDRATE))
+ if( portHandler->SetBaudRate(BAUDRATE) )
{
printf( "Succeeded to change the baudrate!\n" );
}
@@ -150,23 +155,25 @@ int main()
return 0;
}
- // Enable DXL#1 Torque
- dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL1_ID, ADDR_PRO_TORQUE_ENABLE, dxl_torque_enable, &dxl_error);
+ // Enable Dynamixel#1 Torque
+ dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL1_ID, ADDR_PRO_TORQUE_ENABLE, TORQUE_ENABLE, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
- printf("DXL#%d successfully connected\n", DXL1_ID);
+ else
+ printf("DXL#%d has been successfully connected \n", DXL1_ID);
- // Enable DXL#2 Torque
- dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL2_ID, ADDR_PRO_TORQUE_ENABLE, dxl_torque_enable, &dxl_error);
+ // Enable Dynamixel#2 Torque
+ dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL2_ID, ADDR_PRO_TORQUE_ENABLE, TORQUE_ENABLE, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
- printf("DXL#%d successfully connected\n", DXL2_ID);
+ else
+ printf("DXL#%d has been successfully connected \n", DXL2_ID);
- // Add parameter storage for DXL#1 present position
+ // Add parameter storage for Dynamixel#1 present position
dxl_addparam_result = groupBulkRead.AddParam(DXL1_ID, ADDR_PRO_PRESENT_POSITION, LEN_PRO_PRESENT_POSITION);
if(dxl_addparam_result != true)
{
@@ -174,18 +181,18 @@ int main()
return 0;
}
- // Add parameter storage for DXL#2 LED value
+ // Add parameter storage for Dynamixel#2 LED value
dxl_addparam_result = groupBulkRead.AddParam(DXL2_ID, ADDR_PRO_LED_RED, LEN_PRO_LED_RED);
if(dxl_addparam_result != true)
{
- fprintf(stderr, "[ID:%03d] grouBulkRead addparam failed", DXL2_ID);
- return 0;
+ fprintf(stderr, "[ID:%03d] grouBulkRead addparam failed", DXL2_ID);
+ return 0;
}
while(1)
{
- printf("Press Enter key to continue!(press ESC and Enter to quit)\n");
- if(_getch() == 0x1b)
+ printf("Press any key to continue! (or press ESC to quit!)\n");
+ if(_getch() == ESC_ASCII_VALUE)
break;
// Allocate goal position value into byte array
@@ -194,7 +201,7 @@ int main()
param_goal_position[2] = DXL_LOBYTE(DXL_HIWORD(dxl_goal_position[index]));
param_goal_position[3] = DXL_HIBYTE(DXL_HIWORD(dxl_goal_position[index]));
- // Add parameter storage for DXL#1 goal position
+ // Add parameter storage for Dynamixel#1 goal position
dxl_addparam_result = groupBulkWrite.AddParam(DXL1_ID, ADDR_PRO_GOAL_POSITION, LEN_PRO_GOAL_POSITION, param_goal_position);
if(dxl_addparam_result != true)
{
@@ -202,7 +209,7 @@ int main()
return 0;
}
- // Add parameter storage for DXL#2 LED value
+ // Add parameter storage for Dynamixel#2 LED value
dxl_addparam_result = groupBulkWrite.AddParam(DXL2_ID, ADDR_PRO_LED_RED, LEN_PRO_LED_RED, &dxl_led_value[index]);
if(dxl_addparam_result != true)
{
@@ -210,7 +217,7 @@ int main()
return 0;
}
- // Syncwrite goal position and LED value
+ // Bulkwrite goal position and LED value
dxl_comm_result = groupBulkWrite.TxPacket();
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
@@ -220,51 +227,55 @@ int main()
// Clear bulkwrite parameter storage
groupBulkWrite.ClearParam();
- do{
- usleep(50*1000);
-
+ do
+ {
// Bulkread present position and LED status
dxl_comm_result = groupBulkRead.TxRxPacket();
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
- // Get present position value
- dxl_getdata_result = groupBulkRead.GetData(DXL1_ID, ADDR_PRO_PRESENT_POSITION, (UINT32_T*)&dxl_present_position1);
- if(dxl_getdata_result != true)
+ // Check if groupbulkread data of Dynamixel#1 is available
+ dxl_getdata_result = groupBulkRead.IsAvailable(DXL1_ID, ADDR_PRO_PRESENT_POSITION, LEN_PRO_PRESENT_POSITION);
+ if (dxl_getdata_result != true)
{
fprintf(stderr, "[ID:%03d] groupBulkRead getdata failed", DXL1_ID);
return 0;
}
- // Get LED value
- dxl_getdata_result = groupBulkRead.GetData(DXL2_ID, ADDR_PRO_LED_RED, &dxl_led_value_read2);
- if(dxl_getdata_result != true)
+ // Check if groupbulkread data of Dynamixel#2 is available
+ dxl_getdata_result = groupBulkRead.IsAvailable(DXL2_ID, ADDR_PRO_LED_RED, LEN_PRO_LED_RED);
+ if (dxl_getdata_result != true)
{
fprintf(stderr, "[ID:%03d] groupBulkRead getdata failed", DXL2_ID);
return 0;
}
- printf("[ID:%03d] Present Position : %d \t [ID:%03d] LED Value: %d\n", DXL1_ID, dxl_present_position1, DXL2_ID, dxl_led_value_read2);
+ // Get present position value
+ dxl1_present_position = groupBulkRead.GetData(DXL1_ID, ADDR_PRO_PRESENT_POSITION, LEN_PRO_PRESENT_POSITION);
+
+ // Get LED value
+ dxl2_led_value_read = groupBulkRead.GetData(DXL2_ID, ADDR_PRO_LED_RED, LEN_PRO_LED_RED);
+
+ printf("[ID:%03d] Present Position : %d \t [ID:%03d] LED Value: %d\n", DXL1_ID, dxl1_present_position, DXL2_ID, dxl2_led_value_read);
- }while(abs(dxl_goal_position[index] - dxl_present_position1) > STOP_MOVING_MARGIN);
+ }while(abs(dxl_goal_position[index] - dxl1_present_position) > DXL_MOVING_STATUS_THRESHOLD);
- if(index == 0)
+ // Change goal position
+ if( index == 0 )
index = 1;
else
index = 0;
}
- // Clear bulkread parameter storage
- groupBulkRead.ClearParam();
- // Disable DXL#1 Torque
- dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL1_ID, ADDR_PRO_TORQUE_ENABLE, dxl_torque_disable, &dxl_error);
+ // Disable Dynamixel#1 Torque
+ dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL1_ID, ADDR_PRO_TORQUE_ENABLE, TORQUE_DISABLE, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
- // Disable DXL#2 Torque
- dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL2_ID, ADDR_PRO_TORQUE_ENABLE, dxl_torque_disable, &dxl_error);
+ // Disable Dynamixel#2 Torque
+ dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL2_ID, ADDR_PRO_TORQUE_ENABLE, TORQUE_DISABLE, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
@@ -273,7 +284,5 @@ int main()
// Close port
portHandler->ClosePort();
- printf("Press Enter key to terminate...\n");
- _getch();
return 0;
}
diff --git a/c++/example/Protocol2.0/BulkReadWrite/Makefile b/c++/example/Protocol2.0/BulkReadWrite/Makefile
deleted file mode 100644
index 6d8b3caef127eabca930067757cd839e6d985227..0000000000000000000000000000000000000000
--- a/c++/example/Protocol2.0/BulkReadWrite/Makefile
+++ /dev/null
@@ -1,79 +0,0 @@
-##################################################
-# PROJECT: DXL Protocol 2.0 BulkReadWrite Example Makefile
-# AUTHOR : ROBOTIS Ltd.
-##################################################
-
-#---------------------------------------------------------------------
-# Makefile template for projects using DXL SDK
-#
-# Please make sure to follow these instructions when setting up your
-# own copy of this file:
-#
-# 1- Enter the name of the target (the TARGET variable)
-# 2- Add additional source files to the SOURCES variable
-# 3- Add additional static library objects to the OBJECTS variable
-# if necessary
-# 4- Ensure that compiler flags, INCLUDES, and LIBRARIES are
-# appropriate to your needs
-#
-#
-# This makefile will link against several libraries, not all of which
-# are necessarily needed for your project. Please feel free to
-# remove libaries you do not need.
-#---------------------------------------------------------------------
-
-# *** ENTER THE TARGET NAME HERE ***
-TARGET = BulkReadWrite
-
-# important directories used by assorted rules and other variables
-DIR_DXL = ../../..
-DIR_OBJS = .objects
-
-# compiler options
-CC = gcc
-CX = g++
-CCFLAGS = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall $(INCLUDES) -g
-CXFLAGS = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall $(INCLUDES) -g
-LNKCC = $(CX)
-LNKFLAGS = $(CXFLAGS) #-Wl,-rpath,$(DIR_THOR)/lib
-
-#---------------------------------------------------------------------
-# Core components (all of these are likely going to be needed)
-#---------------------------------------------------------------------
-INCLUDES += -I$(DIR_DXL)/include
-LIBRARIES += -ldxl
-
-
-#---------------------------------------------------------------------
-# Files
-#---------------------------------------------------------------------
-SOURCES = BulkReadWrite.cpp \
- # *** OTHER SOURCES GO HERE ***
-
-OBJECTS = $(addsuffix .o,$(addprefix $(DIR_OBJS)/,$(basename $(notdir $(SOURCES)))))
-#OBJETCS += *** ADDITIONAL STATIC LIBRARIES GO HERE ***
-
-
-#---------------------------------------------------------------------
-# Compiling Rules
-#---------------------------------------------------------------------
-$(TARGET): make_directory $(OBJECTS)
- $(LNKCC) $(LNKFLAGS) $(OBJECTS) -o $(TARGET) $(LIBRARIES)
-
-all: $(TARGET)
-
-clean:
- rm -rf $(TARGET) $(DIR_OBJS) core *~ *.a *.so *.lo
-
-make_directory:
- mkdir -p $(DIR_OBJS)/
-
-$(DIR_OBJS)/%.o: %.c
- $(CC) $(CCFLAGS) -c $? -o $@
-
-$(DIR_OBJS)/%.o: %.cpp
- $(CX) $(CXFLAGS) -c $? -o $@
-
-#---------------------------------------------------------------------
-# End of Makefile
-#---------------------------------------------------------------------
diff --git a/c++/example/Protocol2.0/FactoryReset/FactoryReset.cpp b/c++/example/Protocol2.0/FactoryReset/FactoryReset.cpp
index aae5c207e43ff4d650644e9674ae9b5b8622e172..2fdb19de188b40b2331a496371c380d04ab0e478 100644
--- a/c++/example/Protocol2.0/FactoryReset/FactoryReset.cpp
+++ b/c++/example/Protocol2.0/FactoryReset/FactoryReset.cpp
@@ -9,46 +9,44 @@
// ********* Factory Reset Example *********
//
//
-// Available DXL model on this example : All models using Protocol 2.0
-// This example is tested with a DXL PRO 54-200, and an USB2DYNAMIXEL
-// Be sure that DXL PRO properties are already set as %% ID : 1 / Baudnum : 3 (Baudrate : 1000000) / Min voltage limit : under 110 (when using 12V power supplement)
+// Available Dynamixel model on this example : All models using Protocol 2.0
+// This example is tested with a Dynamixel PRO 54-200, and an USB2DYNAMIXEL
+// Be sure that Dynamixel PRO properties are already set as %% ID : 1 / Baudnum : 3 (Baudrate : 1000000)
//
// Be aware that:
-// This example resets all properties of DXL to default values, such as %% ID : 1 / Baudnum : 1 (Baudrate : 57600) / Min voltage limit : 150
+// This example resets all properties of Dynamixel to default values, such as %% ID : 1 / Baudnum : 1 (Baudrate : 57600)
//
#ifdef __linux__
#include <unistd.h>
#include <fcntl.h>
-#include <getopt.h>
#include <termios.h>
+#elif defined(_WIN32) || defined(_WIN64)
+#include <conio.h>
#endif
-
#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "DynamixelSDK.h"
+#include "DynamixelSDK.h" // Uses Dynamixel SDK library
// Control table address
-#define ADDR_PRO_BAUDRATE 8
+#define ADDR_PRO_BAUDRATE 8 // Control table address is different in Dynamixel model
// Protocol version
-#define PROTOCOL_VERSION 2.0
+#define PROTOCOL_VERSION 2.0 // See which protocol version is used in the Dynamixel
// Default setting
-#define DXL_ID 1
+#define DXL_ID 1 // Dynamixel ID: 1
#define BAUDRATE 1000000
-#define DEVICENAME "/dev/ttyUSB0"
+#define DEVICENAME "/dev/ttyUSB0" // Check which port is being used on your controller
+ // ex) Windows: "COM1" Linux: "/dev/ttyUSB0"
-#define FACTORYRST_DEFAULTBAUDRATE 57600 // DXL baudrate set by factoryreset
-#define NEW_BAUDNUM 3 // New baudnum to recover DXL baudrate as it was
-#define OPERATION_MODE 0x01 // 0xFF : reset all values
- // 0x01 : reset all values except ID
- // 0x02 : reset all values except ID and baudrate
+#define FACTORYRST_DEFAULTBAUDRATE 57600 // Dynamixel baudrate set by factoryreset
+#define NEW_BAUDNUM 3 // New baudnum to recover Dynamixel baudrate as it was
+#define OPERATION_MODE 0x01 // 0xFF : reset all values
+ // 0x01 : reset all values except ID
+ // 0x02 : reset all values except ID and baudrate
-using namespace ROBOTIS;
+using namespace ROBOTIS; // Uses functions defined in ROBOTIS namespace
#ifdef __linux__
int _getch()
@@ -92,6 +90,15 @@ int _kbhit(void)
}
#endif
+void msecSleep(int waitTime)
+{
+#ifdef __linux__
+ usleep(waitTime * 1000);
+#elif defined(_WIN32) || defined(_WIN64)
+ Sleep(waitTime);
+#endif
+}
+
int main()
{
// Initialize PortHandler instance
@@ -100,12 +107,14 @@ int main()
PortHandler *portHandler = PortHandler::GetPortHandler(DEVICENAME);
// Initialize Packethandler instance
+ // Set the protocol version
+ // Get methods and members of Protocol1PacketHandler or Protocol2PacketHandler
PacketHandler *packetHandler = PacketHandler::GetPacketHandler(PROTOCOL_VERSION);
- int dxl_comm_result = COMM_TX_FAIL; // Communication result
+ int dxl_comm_result = COMM_TX_FAIL; // Communication result
- UINT8_T dxl_baudnum_read; // Read baudnum
- UINT8_T dxl_error = 0; // DXL error
+ UINT8_T dxl_error = 0; // Dynamixel error
+ UINT8_T dxl_baudnum_read; // Read baudnum
// Open port
if( portHandler->OpenPort() )
@@ -140,20 +149,24 @@ int main()
printf("[ID:%03d] Try factoryreset : ", DXL_ID);
dxl_comm_result = packetHandler->FactoryReset(portHandler, DXL_ID, OPERATION_MODE, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
+ {
+ printf("Aborted\n");
packetHandler->PrintTxRxResult(dxl_comm_result);
+ return 0;
+ }
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
// Wait for reset
printf("Wait for reset...\n");
- usleep(2000 * 1000);
+ msecSleep(2000);
printf("[ID:%03d] FactoryReset Success!\n", DXL_ID);
- // Set port baudrate to factoryreset default baudrate
+ // Set controller baudrate to Dynamixel default baudrate
if(portHandler->SetBaudRate(FACTORYRST_DEFAULTBAUDRATE))
{
- printf( "Succeed to change the controller baudrate to : %d\n", FACTORYRST_DEFAULTBAUDRATE );
+ printf( "Succeed to change the controller baudrate to : %d\n", FACTORYRST_DEFAULTBAUDRATE );
}
else
{
@@ -163,12 +176,14 @@ int main()
return 0;
}
- // Read DXL baudnum
+ // Read Dynamixel baudnum
dxl_comm_result = packetHandler->Read1ByteTxRx(portHandler, DXL_ID, ADDR_PRO_BAUDRATE, &dxl_baudnum_read, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
+ else
+ printf("[ID:%03d] DXL baudnum is now : %d\n", DXL_ID, dxl_baudnum_read);
// Write new baudnum
dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL_ID, ADDR_PRO_BAUDRATE, NEW_BAUDNUM, &dxl_error);
@@ -176,11 +191,13 @@ int main()
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
+ else
+ printf("[ID:%03d] Set Dynamixel baudnum to : %d\n", DXL_ID, NEW_BAUDNUM);
- // Set controller baudrate to 1000000
+ // Set port baudrate to BAUDRATE
if(portHandler->SetBaudRate(BAUDRATE))
{
- printf( "Succeed to change the controller baudrate to : %d\n", BAUDRATE );
+ printf( "Succeed to change the controller baudrate to : %d\n", BAUDRATE );
}
else
{
@@ -190,17 +207,19 @@ int main()
return 0;
}
- // Read DXL baudnum
+ msecSleep(200);
+
+ // Read Dynamixel baudnum
dxl_comm_result = packetHandler->Read1ByteTxRx(portHandler, DXL_ID, ADDR_PRO_BAUDRATE, &dxl_baudnum_read, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
+ else
+ printf("[ID:%03d] Dynamixel Baudnum is now : %d\n", DXL_ID, dxl_baudnum_read);
// Close port
portHandler->ClosePort();
- printf( "Press Enter key to terminate...\n" );
- _getch();
return 0;
}
diff --git a/c++/example/Protocol2.0/FactoryReset/Makefile b/c++/example/Protocol2.0/FactoryReset/Makefile
deleted file mode 100644
index a95eabb65e0ba8eea468210aee4741391b41fcbc..0000000000000000000000000000000000000000
--- a/c++/example/Protocol2.0/FactoryReset/Makefile
+++ /dev/null
@@ -1,78 +0,0 @@
-##################################################
-# PROJECT: DXL Protocol 2.0 FactoryReset Example Makefile
-# AUTHOR : ROBOTIS Ltd.
-##################################################
-
-#---------------------------------------------------------------------
-# Makefile template for projects using DXL SDK
-#
-# Please make sure to follow these instructions when setting up your
-# own copy of this file:
-#
-# 1- Enter the name of the target (the TARGET variable)
-# 2- Add additional source files to the SOURCES variable
-# 3- Add additional static library objects to the OBJECTS variable
-# if necessary
-# 4- Ensure that compiler flags, INCLUDES, and LIBRARIES are
-# appropriate to your needs
-#
-#
-# This makefile will link against several libraries, not all of which
-# are necessarily needed for your project. Please feel free to
-# remove libaries you do not need.
-#---------------------------------------------------------------------
-
-# *** ENTER THE TARGET NAME HERE ***
-TARGET = FactoryReset
-
-# important directories used by assorted rules and other variables
-DIR_DXL = ../../..
-DIR_OBJS = .objects
-
-# compiler options
-CC = gcc
-CX = g++
-CCFLAGS = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall $(INCLUDES) -g
-CXFLAGS = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall $(INCLUDES) -g
-LNKCC = $(CX)
-LNKFLAGS = $(CXFLAGS) #-Wl,-rpath,$(DIR_THOR)/lib
-
-#---------------------------------------------------------------------
-# Core components (all of these are likely going to be needed)
-#---------------------------------------------------------------------
-INCLUDES += -I$(DIR_DXL)/include
-LIBRARIES += -ldxl
-
-#---------------------------------------------------------------------
-# Files
-#---------------------------------------------------------------------
-SOURCES = FactoryReset.cpp \
- # *** OTHER SOURCES GO HERE ***
-
-OBJECTS = $(addsuffix .o,$(addprefix $(DIR_OBJS)/,$(basename $(notdir $(SOURCES)))))
-#OBJETCS += *** ADDITIONAL STATIC LIBRARIES GO HERE ***
-
-
-#---------------------------------------------------------------------
-# Compiling Rules
-#---------------------------------------------------------------------
-$(TARGET): make_directory $(OBJECTS)
- $(LNKCC) $(LNKFLAGS) $(OBJECTS) -o $(TARGET) $(LIBRARIES)
-
-all: $(TARGET)
-
-clean:
- rm -rf $(TARGET) $(DIR_OBJS) core *~ *.a *.so *.lo
-
-make_directory:
- mkdir -p $(DIR_OBJS)/
-
-$(DIR_OBJS)/%.o: %.c
- $(CC) $(CCFLAGS) -c $? -o $@
-
-$(DIR_OBJS)/%.o: %.cpp
- $(CX) $(CXFLAGS) -c $? -o $@
-
-#---------------------------------------------------------------------
-# End of Makefile
-#---------------------------------------------------------------------
diff --git a/c++/example/Protocol2.0/IndirectAddress/IndirectAddress.cpp b/c++/example/Protocol2.0/IndirectAddress/IndirectAddress.cpp
index a60314e82e01fd408b9577fe4488242532fd1ef8..3565f5445918d10bb25b63b92f407906a657c26a 100644
--- a/c++/example/Protocol2.0/IndirectAddress/IndirectAddress.cpp
+++ b/c++/example/Protocol2.0/IndirectAddress/IndirectAddress.cpp
@@ -9,27 +9,27 @@
// ********* Indirect Address Example *********
//
//
-// Available DXL model on this example : All models using Protocol 2.0
-// This example is tested with a DXL PRO 54-200, and an USB2DYNAMIXEL
-// Be sure that DXL PRO properties are already set as %% ID : 1 / Baudnum : 3 (Baudrate : 1000000) / Min voltage limit : under 110 (DXL hardware error would be occurred when it is supplied by 12V power supplement)
+// Available Dynamixel model on this example : All models using Protocol 2.0
+// This example is tested with a Dynamixel PRO 54-200, and an USB2DYNAMIXEL
+// Be sure that Dynamixel PRO properties are already set as %% ID : 1 / Baudnum : 3 (Baudrate : 1000000)
//
#ifdef __linux__
#include <unistd.h>
#include <fcntl.h>
-#include <getopt.h>
#include <termios.h>
+#elif defined(_WIN32) || defined(_WIN64)
+#include <conio.h>
#endif
-#include <stdio.h>
#include <stdlib.h>
-#include <string.h>
-
-#include "DynamixelSDK.h"
+#include <stdio.h>
+#include "DynamixelSDK.h" // Uses Dynamixel SDK library
// Control table address
-#define ADDR_PRO_INDIRECTADDRESS_FOR_WRITE 49 // EEPROM region
-#define ADDR_PRO_INDIRECTADDRESS_FOR_READ 59 // EEPROM region
+// Control table address is different in Dynamixel model
+#define ADDR_PRO_INDIRECTADDRESS_FOR_WRITE 49 // EEPROM region
+#define ADDR_PRO_INDIRECTADDRESS_FOR_READ 59 // EEPROM region
#define ADDR_PRO_TORQUE_ENABLE 562
#define ADDR_PRO_LED_RED 563
#define ADDR_PRO_GOAL_POSITION 596
@@ -39,32 +39,45 @@
#define ADDR_PRO_INDIRECTDATA_FOR_READ 639
// Data Byte Length
+#define LEN_PRO_LED_RED 1
+#define LEN_PRO_GOAL_POSITION 4
+#define LEN_PRO_MOVING 1
+#define LEN_PRO_PRESENT_POSITION 4
#define LEN_PRO_INDIRECTDATA_FOR_WRITE 5
#define LEN_PRO_INDIRECTDATA_FOR_READ 5
// Protocol version
-#define PROTOCOL_VERSION 2.0
+#define PROTOCOL_VERSION 2.0 // See which protocol version is used in the Dynamixel
// Default setting
-#define DXL_ID 1
+#define DXL_ID 1 // Dynamixel ID: 1
#define BAUDRATE 1000000
-#define DEVICENAME "/dev/ttyUSB0"
+#define DEVICENAME "/dev/ttyUSB0" // Check which port is being used on your controller
+ // ex) Windows: "COM1" Linux: "/dev/ttyUSB0"
+
+#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_MINIMUM_LED_VALUE 0 // Dynamixel LED will light between this value
+#define DXL_MAXIMUM_LED_VALUE 255 // and this value
+#define DXL_MOVING_STATUS_THRESHOLD 20 // Dynamixel moving status threshold
-#define STOP_MOVING_MARGIN 20 // Criteria for considering DXL moving status as stopped
+#define ESC_ASCII_VALUE 0x1b
-using namespace ROBOTIS;
+using namespace ROBOTIS; // Uses functions defined in ROBOTIS namespace
#ifdef __linux__
int _getch()
{
struct termios oldt, newt;
int ch;
- tcgetattr(STDIN_FILENO, &oldt);
+ tcgetattr( STDIN_FILENO, &oldt );
newt = oldt;
newt.c_lflag &= ~(ICANON | ECHO);
- tcsetattr(STDIN_FILENO, TCSANOW, &newt);
+ tcsetattr( STDIN_FILENO, TCSANOW, &newt );
ch = getchar();
- tcsetattr(STDIN_FILENO, TCSANOW, &oldt);
+ tcsetattr( STDIN_FILENO, TCSANOW, &oldt );
return ch;
}
@@ -104,6 +117,8 @@ int main()
PortHandler *portHandler = PortHandler::GetPortHandler(DEVICENAME);
// Initialize Packethandler instance
+ // Set the protocol version
+ // Get methods and members of Protocol1PacketHandler or Protocol2PacketHandler
PacketHandler *packetHandler = PacketHandler::GetPacketHandler(PROTOCOL_VERSION);
// Initialize Groupsyncwrite instance
@@ -113,52 +128,52 @@ int main()
GroupSyncRead groupSyncRead(portHandler, packetHandler, ADDR_PRO_INDIRECTDATA_FOR_READ, LEN_PRO_INDIRECTDATA_FOR_READ);
int index = 0;
- int dxl_comm_result = COMM_TX_FAIL; // Communication result
- int dxl_addparam_result = false; // AddParam result
- int dxl_getdata_result = false; // GetParam result
- int dxl_goal_position[2] = {-150000, 150000}; // Goal Position
-
- UINT8_T dxl_torque_enable = 1; // Value for torque enable
- UINT8_T dxl_torque_disable = 0; // Value for torque disable
- UINT8_T dxl_error = 0; // DXL error
- UINT8_T dxl_moving; // DXL moving status
- INT32_T dxl_present_position; // Present position
- UINT8_T dxl_led_value[2] = {0x00, 0xFF}; // LED value
+ 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
+ UINT8_T dxl_moving = 0; // Dynamixel moving status
UINT8_T param_indirect_data_for_write[LEN_PRO_INDIRECTDATA_FOR_WRITE];
+ UINT8_T dxl_led_value[2] = {0x00, 0xFF}; // Dynamixel LED value
+ INT32_T dxl_present_position = 0; // Present position
// Open port
- if(portHandler->OpenPort())
+ if( portHandler->OpenPort() )
{
- printf("Succeeded to open the port!\n");
+ printf( "Succeeded to open the port!\n" );
}
else
{
- printf("Failed to open the port!\n");
- printf("Press any key to terminate...\n");
+ printf( "Failed to open the port!\n" );
+ printf( "Press any key to terminate...\n" );
_getch();
return 0;
}
// Set port baudrate
- if(portHandler->SetBaudRate(BAUDRATE))
+ if( portHandler->SetBaudRate(BAUDRATE) )
{
- printf("Succeeded to change the baudrate!\n");
+ printf( "Succeeded to change the baudrate!\n" );
}
else
{
- printf("Failed to change the baudrate!\n");
- printf("Press any key to terminate...\n");
+ printf( "Failed to change the baudrate!\n" );
+ printf( "Press any key to terminate...\n" );
_getch();
return 0;
}
- // Disable DXL Torque :
+ // Disable Dynamixel Torque :
// Indirect address would not accessible when the torque is already enabled
- dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL_ID, ADDR_PRO_TORQUE_ENABLE, dxl_torque_disable, &dxl_error);
+ dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL_ID, ADDR_PRO_TORQUE_ENABLE, TORQUE_DISABLE, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
+ else
+ printf("DXL has been successfully connected \n");
// INDIRECTDATA parameter storages replace LED, goal position, present position and moving status storages
dxl_comm_result = packetHandler->Write2ByteTxRx(portHandler, DXL_ID, ADDR_PRO_INDIRECTADDRESS_FOR_WRITE + 0, ADDR_PRO_GOAL_POSITION + 0, &dxl_error);
@@ -222,7 +237,7 @@ int main()
packetHandler->PrintRxPacketError(dxl_error);
// Enable DXL Torque
- dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL_ID, ADDR_PRO_TORQUE_ENABLE, dxl_torque_enable, &dxl_error);
+ dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL_ID, ADDR_PRO_TORQUE_ENABLE, TORQUE_ENABLE, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
@@ -232,14 +247,14 @@ int main()
dxl_addparam_result = groupSyncRead.AddParam(DXL_ID);
if( dxl_addparam_result != true )
{
- fprintf(stderr, "[ID:%03d] groupsyncread addparam failed\n", DXL_ID);
+ fprintf(stderr, "[ID:%03d] groupSyncRead addparam failed\n", DXL_ID);
return 0;
}
while(1)
{
- printf( "Press Enter key to continue!(press ESC and Enter to quit)\n" );
- if(_getch() == 0x1b)
+ printf("Press any key to continue! (or press ESC to quit!)\n");
+ if(_getch() == ESC_ASCII_VALUE)
break;
// Allocate LED and goal position value into byte array
@@ -253,7 +268,7 @@ int main()
dxl_addparam_result = groupSyncWrite.AddParam(DXL_ID, param_indirect_data_for_write);
if( dxl_addparam_result != true )
{
- fprintf(stderr, "[ID:%03d] groupsyncread addparam failed\n", DXL_ID);
+ fprintf(stderr, "[ID:%03d] groupSyncWrite addparam failed\n", DXL_ID);
return 0;
}
@@ -265,43 +280,48 @@ int main()
// Clear syncwrite parameter storage
groupSyncWrite.ClearParam();
- do{
- usleep(50*1000);
-
+ do
+ {
// Syncread present position from indirectdata2
dxl_comm_result = groupSyncRead.TxRxPacket();
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
- // Get DXL present position value
- dxl_getdata_result = groupSyncRead.GetData(DXL_ID, ADDR_PRO_INDIRECTDATA_FOR_READ, (UINT32_T*)&dxl_present_position);
- if( dxl_getdata_result != true )
+ // Check if groupsyncread data of Dyanamixel is available
+ dxl_getdata_result = groupSyncRead.IsAvailable(DXL_ID, ADDR_PRO_INDIRECTDATA_FOR_READ, LEN_PRO_PRESENT_POSITION);
+ if (dxl_getdata_result != true)
{
fprintf(stderr, "[ID:%03d] groupSyncRead getdata failed", DXL_ID);
return 0;
}
- // Get DXL moving status value
- dxl_getdata_result = groupSyncRead.GetData(DXL_ID, ADDR_PRO_INDIRECTDATA_FOR_READ + 4, &dxl_moving);
- if( dxl_getdata_result != true )
+ // Check if groupsyncread data of Dyanamixel is available
+ dxl_getdata_result = groupSyncRead.IsAvailable(DXL_ID, ADDR_PRO_INDIRECTDATA_FOR_READ + LEN_PRO_PRESENT_POSITION, LEN_PRO_MOVING);
+ if (dxl_getdata_result != true)
{
fprintf(stderr, "[ID:%03d] groupSyncRead getdata failed", DXL_ID);
return 0;
}
- printf("[ID:%03d] GoalPos:%03d PresPos:%03d IsMoving:%d\n", DXL_ID, dxl_goal_position[index], dxl_present_position, dxl_moving);
- }while(abs(dxl_goal_position[index] - dxl_present_position) > STOP_MOVING_MARGIN);
+ // Get Dynamixel present position value
+ dxl_present_position = groupSyncRead.GetData(DXL_ID, ADDR_PRO_INDIRECTDATA_FOR_READ, LEN_PRO_PRESENT_POSITION);
+
+ // Get Dynamixel moving status value
+ dxl_moving = groupSyncRead.GetData(DXL_ID, ADDR_PRO_INDIRECTDATA_FOR_READ + LEN_PRO_PRESENT_POSITION, LEN_PRO_MOVING);
+
+ printf("[ID:%03d] GoalPos:%d PresPos:%d IsMoving:%d\n", DXL_ID, dxl_goal_position[index], dxl_present_position, dxl_moving);
+
+ }while(abs(dxl_goal_position[index] - dxl_present_position) > DXL_MOVING_STATUS_THRESHOLD);
+ // Change goal position
if( index == 0 )
index = 1;
else
index = 0;
}
- // Clear syncread parameter storage
- groupSyncRead.ClearParam();
- // Disable DXL Torque
- dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL_ID, ADDR_PRO_TORQUE_ENABLE, dxl_torque_disable, &dxl_error);
+ // Disable Dynamixel Torque
+ dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL_ID, ADDR_PRO_TORQUE_ENABLE, TORQUE_DISABLE, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
@@ -310,7 +330,5 @@ int main()
// Close port
portHandler->ClosePort();
- printf( "Press Enter key to terminate...\n" );
- _getch();
return 0;
}
diff --git a/c++/example/Protocol2.0/IndirectAddress/Makefile b/c++/example/Protocol2.0/IndirectAddress/Makefile
deleted file mode 100644
index 063a26dedc192c311ce8b4d87b1d03ac1fecf29a..0000000000000000000000000000000000000000
--- a/c++/example/Protocol2.0/IndirectAddress/Makefile
+++ /dev/null
@@ -1,78 +0,0 @@
-##################################################
-# PROJECT: DXL Protocol 2.0 IndirectAddress Example Makefile
-# AUTHOR : ROBOTIS Ltd.
-##################################################
-
-#---------------------------------------------------------------------
-# Makefile template for projects using DXL SDK
-#
-# Please make sure to follow these instructions when setting up your
-# own copy of this file:
-#
-# 1- Enter the name of the target (the TARGET variable)
-# 2- Add additional source files to the SOURCES variable
-# 3- Add additional static library objects to the OBJECTS variable
-# if necessary
-# 4- Ensure that compiler flags, INCLUDES, and LIBRARIES are
-# appropriate to your needs
-#
-#
-# This makefile will link against several libraries, not all of which
-# are necessarily needed for your project. Please feel free to
-# remove libaries you do not need.
-#---------------------------------------------------------------------
-
-# *** ENTER THE TARGET NAME HERE ***
-TARGET = IndirectAddress
-
-# important directories used by assorted rules and other variables
-DIR_DXL = ../../..
-DIR_OBJS = .objects
-
-# compiler options
-CC = gcc
-CX = g++
-CCFLAGS = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall $(INCLUDES) -g
-CXFLAGS = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall $(INCLUDES) -g
-LNKCC = $(CX)
-LNKFLAGS = $(CXFLAGS) #-Wl,-rpath,$(DIR_THOR)/lib
-
-#---------------------------------------------------------------------
-# Core components (all of these are likely going to be needed)
-#---------------------------------------------------------------------
-INCLUDES += -I$(DIR_DXL)/include
-LIBRARIES += -ldxl
-
-#---------------------------------------------------------------------
-# Files
-#---------------------------------------------------------------------
-SOURCES = IndirectAddress.cpp \
- # *** OTHER SOURCES GO HERE ***
-
-OBJECTS = $(addsuffix .o,$(addprefix $(DIR_OBJS)/,$(basename $(notdir $(SOURCES)))))
-#OBJETCS += *** ADDITIONAL STATIC LIBRARIES GO HERE ***
-
-
-#---------------------------------------------------------------------
-# Compiling Rules
-#---------------------------------------------------------------------
-$(TARGET): make_directory $(OBJECTS)
- $(LNKCC) $(LNKFLAGS) $(OBJECTS) -o $(TARGET) $(LIBRARIES)
-
-all: $(TARGET)
-
-clean:
- rm -rf $(TARGET) $(DIR_OBJS) core *~ *.a *.so *.lo
-
-make_directory:
- mkdir -p $(DIR_OBJS)/
-
-$(DIR_OBJS)/%.o: %.c
- $(CC) $(CCFLAGS) -c $? -o $@
-
-$(DIR_OBJS)/%.o: %.cpp
- $(CX) $(CXFLAGS) -c $? -o $@
-
-#---------------------------------------------------------------------
-# End of Makefile
-#---------------------------------------------------------------------
diff --git a/c++/example/Protocol2.0/MultiPort/Makefile b/c++/example/Protocol2.0/MultiPort/Makefile
deleted file mode 100644
index 11b0284ca92457859993d69a080a119d4549d59f..0000000000000000000000000000000000000000
--- a/c++/example/Protocol2.0/MultiPort/Makefile
+++ /dev/null
@@ -1,78 +0,0 @@
-##################################################
-# PROJECT: DXL Protocol 2.0 MultiPort Example Makefile
-# AUTHOR : ROBOTIS Ltd.
-##################################################
-
-#---------------------------------------------------------------------
-# Makefile template for projects using DXL SDK
-#
-# Please make sure to follow these instructions when setting up your
-# own copy of this file:
-#
-# 1- Enter the name of the target (the TARGET variable)
-# 2- Add additional source files to the SOURCES variable
-# 3- Add additional static library objects to the OBJECTS variable
-# if necessary
-# 4- Ensure that compiler flags, INCLUDES, and LIBRARIES are
-# appropriate to your needs
-#
-#
-# This makefile will link against several libraries, not all of which
-# are necessarily needed for your project. Please feel free to
-# remove libaries you do not need.
-#---------------------------------------------------------------------
-
-# *** ENTER THE TARGET NAME HERE ***
-TARGET = MultiPort
-
-# important directories used by assorted rules and other variables
-DIR_DXL = ../../..
-DIR_OBJS = .objects
-
-# compiler options
-CC = gcc
-CX = g++
-CCFLAGS = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall $(INCLUDES) -g
-CXFLAGS = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall $(INCLUDES) -g
-LNKCC = $(CX)
-LNKFLAGS = $(CXFLAGS) #-Wl,-rpath,$(DIR_THOR)/lib
-
-#---------------------------------------------------------------------
-# Core components (all of these are likely going to be needed)
-#---------------------------------------------------------------------
-INCLUDES += -I$(DIR_DXL)/include
-LIBRARIES += -ldxl
-
-#---------------------------------------------------------------------
-# Files
-#---------------------------------------------------------------------
-SOURCES = MultiPort.cpp \
- # *** OTHER SOURCES GO HERE ***
-
-OBJECTS = $(addsuffix .o,$(addprefix $(DIR_OBJS)/,$(basename $(notdir $(SOURCES)))))
-#OBJETCS += *** ADDITIONAL STATIC LIBRARIES GO HERE ***
-
-
-#---------------------------------------------------------------------
-# Compiling Rules
-#---------------------------------------------------------------------
-$(TARGET): make_directory $(OBJECTS)
- $(LNKCC) $(LNKFLAGS) $(OBJECTS) -o $(TARGET) $(LIBRARIES)
-
-all: $(TARGET)
-
-clean:
- rm -rf $(TARGET) $(DIR_OBJS) core *~ *.a *.so *.lo
-
-make_directory:
- mkdir -p $(DIR_OBJS)/
-
-$(DIR_OBJS)/%.o: %.c
- $(CC) $(CCFLAGS) -c $? -o $@
-
-$(DIR_OBJS)/%.o: %.cpp
- $(CX) $(CXFLAGS) -c $? -o $@
-
-#---------------------------------------------------------------------
-# End of Makefile
-#---------------------------------------------------------------------
diff --git a/c++/example/Protocol2.0/MultiPort/MultiPort.cpp b/c++/example/Protocol2.0/MultiPort/MultiPort.cpp
index 9736dcad19e88104cf310c8c2706d173ad3b66e9..8da37a5be92bfdd1a379b9051db7ff4597e7b94f 100644
--- a/c++/example/Protocol2.0/MultiPort/MultiPort.cpp
+++ b/c++/example/Protocol2.0/MultiPort/MultiPort.cpp
@@ -9,42 +9,47 @@
// ********* MultiPort Example *********
//
//
-// Available DXL model on this example : All models using Protocol 2.0
-// This example is tested with two DXL PRO 54-200, and two USB2DYNAMIXEL
-// Be sure that DXL PRO properties are already set as %% ID : 1 / Baudnum : 3 (Baudrate : 1000000) / Min voltage limit : under 110 (when using 12V power supplement)
+// Available Dynamixel model on this example : All models using Protocol 2.0
+// This example is tested with two Dynamixel PRO 54-200, and two USB2DYNAMIXEL
+// Be sure that Dynamixel PRO properties are already set as %% ID : 1 / Baudnum : 3 (Baudrate : 1000000)
//
#ifdef __linux__
#include <unistd.h>
#include <fcntl.h>
-#include <getopt.h>
#include <termios.h>
+#elif defined(_WIN32) || defined(_WIN64)
+#include <conio.h>
#endif
-#include <stdio.h>
#include <stdlib.h>
-#include <string.h>
-
-#include "DynamixelSDK.h"
+#include <stdio.h>
+#include "DynamixelSDK.h" // Uses Dynamixel SDK library
// Control table address
-#define ADDR_PRO_TORQUE_ENABLE 562
+#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
// Protocol version
-#define PROTOCOL_VERSION 2.0
+#define PROTOCOL_VERSION 2.0 // See which protocol version is used in the Dynamixel
// Default setting
-#define DXL1_ID 1 // DXL#1 ID:1
-#define DXL2_ID 2 // DXL#2 ID:2
-#define BAUDRATE 1000000
-#define DEVICENAME1 "/dev/ttyUSB0"
-#define DEVICENAME2 "/dev/ttyUSB1"
+#define DXL1_ID 1 // Dynamixel#1 ID: 1
+#define DXL2_ID 2 // Dynamixel#2 ID: 2
+#define BAUDRATE 1000000
+#define DEVICENAME1 "/dev/ttyUSB0" // Check which port is being used on your controller
+#define DEVICENAME2 "/dev/ttyUSB1" // ex) Windows: "COM1" Linux: "/dev/ttyUSB0"
-#define STOP_MOVING_MARGIN 20 // Criteria for considering DXL moving status as stopped
+#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
-using namespace ROBOTIS;
+#define ESC_ASCII_VALUE 0x1b
+
+using namespace ROBOTIS; // Uses functions defined in ROBOTIS namespace
#ifdef __linux__
int _getch()
@@ -90,24 +95,24 @@ int _kbhit(void)
int main()
{
- // Initialize Porthandlers instance
+ // Initialize PortHandler instance
// Set the port path
// Get methods and members of PortHandlerLinux or PortHandlerWindows
- PortHandler *portHandler1 = (PortHandler*)PortHandler::GetPortHandler(DEVICENAME1);
- PortHandler *portHandler2 = (PortHandler*)PortHandler::GetPortHandler(DEVICENAME2);
+ PortHandler *portHandler1 = PortHandler::GetPortHandler(DEVICENAME1);
+ PortHandler *portHandler2 = PortHandler::GetPortHandler(DEVICENAME2);
+
// Initialize Packethandler instance
- // Get Protocol2PacketHandler methods and members
+ // Set the protocol version
+ // Get methods and members of Protocol1PacketHandler or Protocol2PacketHandler
PacketHandler *packetHandler = PacketHandler::GetPacketHandler(PROTOCOL_VERSION);
int index = 0;
- int dxl_comm_result = COMM_TX_FAIL; // Communication result
- int dxl_goal_position[2] = {-150000, 150000}; // Goal position
+ int dxl_comm_result = COMM_TX_FAIL; // Communication result
+ int dxl_goal_position[2] = {DXL_MINIMUM_POSITION_VALUE, DXL_MAXIMUM_POSITION_VALUE}; // Goal position
- UINT8_T dxl_torque_enable = 1; // Value for torque enable
- UINT8_T dxl_torque_disable = 0; // Value for torque disable
- UINT8_T dxl_error = 0; // DXL error
- INT32_T dxl_present_position1, dxl_present_position2; // Present position
+ UINT8_T dxl_error = 0; // Dynamixel error
+ INT32_T dxl1_present_position = 0, dxl2_present_position = 0; // Present position
// Open port1
if( portHandler1->OpenPort() )
@@ -138,11 +143,11 @@ int main()
// Set port1 baudrate
if(portHandler1->SetBaudRate(BAUDRATE) )
{
- printf( "Succeed to change the baudrate of port1!\n" );
+ printf( "Succeed to change the baudrate port1!\n" );
}
else
{
- printf( "Failed to change the baudrate of port1!\n" );
+ printf( "Failed to change the baudrate port1!\n" );
printf( "Press any key to terminate...\n" );
_getch();
return 0;
@@ -151,46 +156,49 @@ int main()
// Set port2 baudrate
if(portHandler2->SetBaudRate(BAUDRATE) )
{
- printf( "Succeed to change the baudrate of port2!\n" );
+ printf( "Succeed to change the baudrate port2!\n" );
}
else
{
- printf( "Failed to change the baudrate of port2!\n" );
+ printf( "Failed to change the baudrate port2!\n" );
printf( "Press any key to terminate...\n" );
_getch();
return 0;
}
- // Enable DXL#1 Torque
- dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler1, DXL1_ID, ADDR_PRO_TORQUE_ENABLE, dxl_torque_enable, &dxl_error);
+
+ // Enable Dynamixel#1 Torque
+ dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler1, DXL1_ID, ADDR_PRO_TORQUE_ENABLE, TORQUE_ENABLE, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
- printf("DXL#%d successfully connected\n", DXL1_ID);
+ else
+ printf("Dynamixel#%d has been successfully connected \n", DXL1_ID);
- // Enable DXL#2 Torque
- dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler2, DXL2_ID, ADDR_PRO_TORQUE_ENABLE, dxl_torque_enable, &dxl_error);
+ // Enable Dynamixel#2 Torque
+ dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler2, DXL2_ID, ADDR_PRO_TORQUE_ENABLE, TORQUE_ENABLE, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
- printf("DXL#%d successfully connected\n", DXL2_ID);
+ else
+ printf("Dynamixel#%d has been successfully connected \n", DXL2_ID);
while(1)
{
- printf( "Press Enter key to continue!(press ESC and Enter to quit)\n" );
- if(_getch() == 0x1b)
+ printf("Press any key to continue! (or press ESC to quit!)\n");
+ if(_getch() == ESC_ASCII_VALUE)
break;
- // Write DXL#1 goal position
+ // Write Dynamixel#1 goal position
dxl_comm_result = packetHandler->Write4ByteTxRx(portHandler1, DXL1_ID, ADDR_PRO_GOAL_POSITION, dxl_goal_position[index], &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
- // Write DXL#2 goal position
+ // Write Dynamixel#2 goal position
dxl_comm_result = packetHandler->Write4ByteTxRx(portHandler2, DXL2_ID, ADDR_PRO_GOAL_POSITION, dxl_goal_position[index], &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
@@ -199,24 +207,23 @@ int main()
do
{
- usleep(50*1000);
-
- // Read DXL#1 present position
- dxl_comm_result = packetHandler->Read4ByteTxRx(portHandler1, DXL1_ID, ADDR_PRO_PRESENT_POSITION, (UINT32_T*)&dxl_present_position1, &dxl_error);
+ // Read Dynamixel#1 present position
+ dxl_comm_result = packetHandler->Read4ByteTxRx(portHandler1, DXL1_ID, ADDR_PRO_PRESENT_POSITION, (UINT32_T*)&dxl1_present_position, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
- // Read DXL#2 present position
- dxl_comm_result = packetHandler->Read4ByteTxRx(portHandler2, DXL2_ID, ADDR_PRO_PRESENT_POSITION, (UINT32_T*)&dxl_present_position2, &dxl_error);
+ // Read Dynamixel#2 present position
+ dxl_comm_result = packetHandler->Read4ByteTxRx(portHandler2, DXL2_ID, ADDR_PRO_PRESENT_POSITION, (UINT32_T*)&dxl2_present_position, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
- printf("[ID:%03d] GoalPos:%03d PresPos:%03d [ID:%03d] GoalPos:%03d PresPos:%03d\n", DXL1_ID, dxl_goal_position[index], dxl_present_position1, DXL2_ID, dxl_goal_position[index], dxl_present_position2);
- }while((abs(dxl_goal_position[index] - dxl_present_position1) > STOP_MOVING_MARGIN) || (abs(dxl_goal_position[index] - dxl_present_position2) > STOP_MOVING_MARGIN));
+ 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 )
@@ -225,15 +232,15 @@ int main()
index = 0;
}
- // Disable DXL#1 Torque
- dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler1, DXL1_ID, ADDR_PRO_TORQUE_ENABLE, dxl_torque_disable, &dxl_error);
+ // Disable Dynamixel#1 Torque
+ dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler1, DXL1_ID, ADDR_PRO_TORQUE_ENABLE, TORQUE_DISABLE, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
- // Disable DXL#2 Torque
- dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler2, DXL2_ID, ADDR_PRO_TORQUE_ENABLE, dxl_torque_disable, &dxl_error);
+ // Disable Dynamixel#2 Torque
+ dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler2, DXL2_ID, ADDR_PRO_TORQUE_ENABLE, TORQUE_DISABLE, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
@@ -245,7 +252,5 @@ int main()
// Close port2
portHandler2->ClosePort();
- printf( "Press Enter key to terminate...\n" );
- _getch();
return 0;
}
diff --git a/c++/example/Protocol2.0/Ping/Makefile b/c++/example/Protocol2.0/Ping/Makefile
deleted file mode 100644
index f9a979d6635cc81e8ef283bab1b2317d1a8dc27f..0000000000000000000000000000000000000000
--- a/c++/example/Protocol2.0/Ping/Makefile
+++ /dev/null
@@ -1,78 +0,0 @@
-##################################################
-# PROJECT: DXL Protocol 2.0 Ping Example Makefile
-# AUTHOR : ROBOTIS Ltd.
-##################################################
-
-#---------------------------------------------------------------------
-# Makefile template for projects using DXL SDK
-#
-# Please make sure to follow these instructions when setting up your
-# own copy of this file:
-#
-# 1- Enter the name of the target (the TARGET variable)
-# 2- Add additional source files to the SOURCES variable
-# 3- Add additional static library objects to the OBJECTS variable
-# if necessary
-# 4- Ensure that compiler flags, INCLUDES, and LIBRARIES are
-# appropriate to your needs
-#
-#
-# This makefile will link against several libraries, not all of which
-# are necessarily needed for your project. Please feel free to
-# remove libaries you do not need.
-#---------------------------------------------------------------------
-
-# *** ENTER THE TARGET NAME HERE ***
-TARGET = Ping
-
-# important directories used by assorted rules and other variables
-DIR_DXL = ../../..
-DIR_OBJS = .objects
-
-# compiler options
-CC = gcc
-CX = g++
-CCFLAGS = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall $(INCLUDES) -g
-CXFLAGS = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall $(INCLUDES) -g
-LNKCC = $(CX)
-LNKFLAGS = $(CXFLAGS) #-Wl,-rpath,$(DIR_THOR)/lib
-
-#---------------------------------------------------------------------
-# Core components (all of these are likely going to be needed)
-#---------------------------------------------------------------------
-INCLUDES += -I$(DIR_DXL)/include
-LIBRARIES += -ldxl
-
-#---------------------------------------------------------------------
-# Files
-#---------------------------------------------------------------------
-SOURCES = Ping.cpp \
- # *** OTHER SOURCES GO HERE ***
-
-OBJECTS = $(addsuffix .o,$(addprefix $(DIR_OBJS)/,$(basename $(notdir $(SOURCES)))))
-#OBJETCS += *** ADDITIONAL STATIC LIBRARIES GO HERE ***
-
-
-#---------------------------------------------------------------------
-# Compiling Rules
-#---------------------------------------------------------------------
-$(TARGET): make_directory $(OBJECTS)
- $(LNKCC) $(LNKFLAGS) $(OBJECTS) -o $(TARGET) $(LIBRARIES)
-
-all: $(TARGET)
-
-clean:
- rm -rf $(TARGET) $(DIR_OBJS) core *~ *.a *.so *.lo
-
-make_directory:
- mkdir -p $(DIR_OBJS)/
-
-$(DIR_OBJS)/%.o: %.c
- $(CC) $(CCFLAGS) -c $? -o $@
-
-$(DIR_OBJS)/%.o: %.cpp
- $(CX) $(CXFLAGS) -c $? -o $@
-
-#---------------------------------------------------------------------
-# End of Makefile
-#---------------------------------------------------------------------
diff --git a/c++/example/Protocol2.0/Ping/Ping.cpp b/c++/example/Protocol2.0/Ping/Ping.cpp
index 30958165fe86dec64896888e2872d86202b93176..211d11ff4af55129af15608d4838d9e44976d099 100644
--- a/c++/example/Protocol2.0/Ping/Ping.cpp
+++ b/c++/example/Protocol2.0/Ping/Ping.cpp
@@ -9,33 +9,32 @@
// ********* Ping Example *********
//
//
-// Available DXL model on this example : All models using Protocol 2.0
-// This example is tested with a DXL PRO 54-200, and an USB2DYNAMIXEL
-// Be sure that DXL PRO properties are already set as %% ID : 1 / Baudnum : 3 (Baudrate : 1000000) / Min voltage limit : under 110 (when using 12V power supplement)
+// Available Dynamixel model on this example : All models using Protocol 2.0
+// This example is tested with a Dynamixel PRO 54-200, and an USB2DYNAMIXEL
+// Be sure that Dynamixel PRO properties are already set as %% ID : 1 / Baudnum : 3 (Baudrate : 1000000)
//
#ifdef __linux__
#include <unistd.h>
#include <fcntl.h>
-#include <getopt.h>
#include <termios.h>
+#elif defined(_WIN32) || defined(_WIN64)
+#include <conio.h>
#endif
#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "DynamixelSDK.h"
+#include "DynamixelSDK.h" // Uses Dynamixel SDK library
// Protocol version
-#define PROTOCOL_VERSION 2.0
+#define PROTOCOL_VERSION 2.0 // See which protocol version is used in the Dynamixel
// Default setting
-#define DXL_ID 1
+#define DXL_ID 1 // Dynamixel ID: 1
#define BAUDRATE 1000000
-#define DEVICENAME "/dev/ttyUSB0"
+#define DEVICENAME "/dev/ttyUSB0" // Check which port is being used on your controller
+ // ex) Windows: "COM1" Linux: "/dev/ttyUSB0"
-using namespace ROBOTIS;
+using namespace ROBOTIS; // Uses functions defined in ROBOTIS namespace
#ifdef __linux__
int _getch()
@@ -81,18 +80,20 @@ int _kbhit(void)
int main()
{
- // Initialize Porthandler instance
+ // Initialize PortHandler instance
// Set the port path
// Get methods and members of PortHandlerLinux or PortHandlerWindows
- PortHandler *portHandler = (PortHandler*)PortHandler::GetPortHandler(DEVICENAME);
+ PortHandler *portHandler = PortHandler::GetPortHandler(DEVICENAME);
// Initialize Packethandler instance
+ // Set the protocol version
+ // Get methods and members of Protocol1PacketHandler or Protocol2PacketHandler
PacketHandler *packetHandler = PacketHandler::GetPacketHandler(PROTOCOL_VERSION);
- int dxl_comm_result = COMM_TX_FAIL; // Communication result
+ int dxl_comm_result = COMM_TX_FAIL; // Communication result
- UINT8_T dxl_error = 0; // DXL error
- UINT16_T dxl_model_number; // DXL model number
+ UINT8_T dxl_error = 0; // Dynamixel error
+ UINT16_T dxl_model_number; // Dynamixel model number
// Open port
if( portHandler->OpenPort() )
@@ -120,20 +121,18 @@ int main()
return 0;
}
- // Try to ping the DXL
- // Get DXL model number from the DXL
+ // Try to ping the Dynamixel
+ // Get Dynamixel model number
dxl_comm_result = packetHandler->Ping(portHandler, DXL_ID, &dxl_model_number, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
- printf("[ID:%03d] Ping Succeeded. DXL model number : %d\n", DXL_ID, dxl_model_number);
+ printf("[ID:%03d] Ping Succeeded. Dynamixel model number : %d\n", DXL_ID, dxl_model_number);
- // Close port
+ // Close port
portHandler->ClosePort();
- printf( "Press Enter key to terminate...\n" );
- _getch();
- return 0;
+ return 0;
}
diff --git a/c++/example/Protocol2.0/ReadWrite/Makefile b/c++/example/Protocol2.0/ReadWrite/Makefile
deleted file mode 100644
index b05c7195a0b2e66deee4a3935fe8aa6aaf160844..0000000000000000000000000000000000000000
--- a/c++/example/Protocol2.0/ReadWrite/Makefile
+++ /dev/null
@@ -1,78 +0,0 @@
-##################################################
-# PROJECT: DXL Protocol 2.0 Read/Write Example Makefile
-# AUTHOR : ROBOTIS Ltd.
-##################################################
-
-#---------------------------------------------------------------------
-# Makefile template for projects using DXL SDK
-#
-# Please make sure to follow these instructions when setting up your
-# own copy of this file:
-#
-# 1- Enter the name of the target (the TARGET variable)
-# 2- Add additional source files to the SOURCES variable
-# 3- Add additional static library objects to the OBJECTS variable
-# if necessary
-# 4- Ensure that compiler flags, INCLUDES, and LIBRARIES are
-# appropriate to your needs
-#
-#
-# This makefile will link against several libraries, not all of which
-# are necessarily needed for your project. Please feel free to
-# remove libaries you do not need.
-#---------------------------------------------------------------------
-
-# *** ENTER THE TARGET NAME HERE ***
-TARGET = ReadWrite
-
-# important directories used by assorted rules and other variables
-DIR_DXL = ../../..
-DIR_OBJS = .objects
-
-# compiler options
-CC = gcc
-CX = g++
-CCFLAGS = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall $(INCLUDES) -g
-CXFLAGS = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall $(INCLUDES) -g
-LNKCC = $(CX)
-LNKFLAGS = $(CXFLAGS) #-Wl,-rpath,$(DIR_THOR)/lib
-
-#---------------------------------------------------------------------
-# Core components (all of these are likely going to be needed)
-#---------------------------------------------------------------------
-INCLUDES += -I$(DIR_DXL)/include
-LIBRARIES += -ldxl
-
-#---------------------------------------------------------------------
-# Files
-#---------------------------------------------------------------------
-SOURCES = ReadWrite.cpp \
- # *** OTHER SOURCES GO HERE ***
-
-OBJECTS = $(addsuffix .o,$(addprefix $(DIR_OBJS)/,$(basename $(notdir $(SOURCES)))))
-#OBJETCS += *** ADDITIONAL STATIC LIBRARIES GO HERE ***
-
-
-#---------------------------------------------------------------------
-# Compiling Rules
-#---------------------------------------------------------------------
-$(TARGET): make_directory $(OBJECTS)
- $(LNKCC) $(LNKFLAGS) $(OBJECTS) -o $(TARGET) $(LIBRARIES)
-
-all: $(TARGET)
-
-clean:
- rm -rf $(TARGET) $(DIR_OBJS) core *~ *.a *.so *.lo
-
-make_directory:
- mkdir -p $(DIR_OBJS)/
-
-$(DIR_OBJS)/%.o: %.c
- $(CC) $(CCFLAGS) -c $? -o $@
-
-$(DIR_OBJS)/%.o: %.cpp
- $(CX) $(CXFLAGS) -c $? -o $@
-
-#---------------------------------------------------------------------
-# End of Makefile
-#---------------------------------------------------------------------
diff --git a/c++/example/Protocol2.0/ReadWrite/ReadWrite.cpp b/c++/example/Protocol2.0/ReadWrite/ReadWrite.cpp
index adfa4c6398de0b661e9cdd0b5711d9cfd87b2aaa..9588eb0fbe552d5a0458ef39e4af25f77d222d82 100644
--- a/c++/example/Protocol2.0/ReadWrite/ReadWrite.cpp
+++ b/c++/example/Protocol2.0/ReadWrite/ReadWrite.cpp
@@ -9,39 +9,46 @@
// ********* Read and Write Example *********
//
//
-// Available DXL model on this example : All models using Protocol 2.0
-// This example is tested with a DXL PRO 54-200, and an USB2DYNAMIXEL
-// Be sure that DXL PRO properties are already set as %% ID : 1 / Baudnum : 3 (Baudrate : 1000000) / Min voltage limit : under 110 (when using 12V power supplement)
+// Available Dynamixel model on this example : All models using Protocol 2.0
+// This example is tested with a Dynamixel PRO 54-200, and an USB2DYNAMIXEL
+// Be sure that Dynamixel PRO properties are already set as %% ID : 1 / Baudnum : 3 (Baudrate : 1000000)
//
#ifdef __linux__
#include <unistd.h>
#include <fcntl.h>
-#include <getopt.h>
#include <termios.h>
+#elif defined(_WIN32) || defined(_WIN64)
+#include <conio.h>
#endif
-#include <stdio.h>
#include <stdlib.h>
-#include <string.h>
-
-#include "DynamixelSDK.h"
+#include <stdio.h>
+#include "DynamixelSDK.h" // Uses Dynamixel SDK library
// Control table address
-#define ADDR_PRO_TORQUE_ENABLE 562
+#define ADDR_PRO_TORQUE_ENABLE 562 // Control table address is different in Dynamixel model
#define ADDR_PRO_GOAL_POSITION 596
-#define ADDR_PRO_MOVING 610
#define ADDR_PRO_PRESENT_POSITION 611
// Protocol version
-#define PROTOCOL_VERSION 2.0
+#define PROTOCOL_VERSION 2.0 // See which protocol version is used in the Dynamixel
// Default setting
-#define DXL_ID 1
+#define DXL_ID 1 // Dynamixel ID: 1
#define BAUDRATE 1000000
-#define DEVICENAME "/dev/ttyUSB0"
+#define DEVICENAME "/dev/ttyUSB0" // Check which port is being used on your controller
+ // ex) Windows: "COM1" Linux: "/dev/ttyUSB0"
-using namespace ROBOTIS;
+#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
+
+using namespace ROBOTIS; // Uses functions defined in ROBOTIS namespace
#ifdef __linux__
int _getch()
@@ -93,16 +100,15 @@ int main()
PortHandler *portHandler = PortHandler::GetPortHandler(DEVICENAME);
// Initialize Packethandler instance
+ // Set the protocol version
+ // Get methods and members of Protocol1PacketHandler or Protocol2PacketHandler
PacketHandler *packetHandler = PacketHandler::GetPacketHandler(PROTOCOL_VERSION);
int index = 0;
int dxl_comm_result = COMM_TX_FAIL; // Communication result
- int dxl_goal_position[2] = {-150000, 150000}; // Goal position
+ int dxl_goal_position[2] = {DXL_MINIMUM_POSITION_VALUE, DXL_MAXIMUM_POSITION_VALUE}; // Goal position
- UINT8_T dxl_torque_enable = 1; // Value for torque enable
- UINT8_T dxl_torque_disable = 0; // Value for torque disable
- UINT8_T dxl_error = 0; // DXL error
- UINT8_T dxl_moving = 0; // DXL moving status
+ UINT8_T dxl_error = 0; // Dynamixel error
INT32_T dxl_present_position = 0; // Present position
// Open port
@@ -121,7 +127,7 @@ int main()
// Set port baudrate
if( portHandler->SetBaudRate(BAUDRATE) )
{
- printf( "Succeeded to change the baudrate!\n" );
+ printf( "Succeeded to change the baudrate!\n" );
}
else
{
@@ -131,16 +137,19 @@ int main()
return 0;
}
- // Enable DXL Torque
- dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL_ID, ADDR_PRO_TORQUE_ENABLE, dxl_torque_enable, &dxl_error);
+ // Enable Dynamixel Torque
+ dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL_ID, ADDR_PRO_TORQUE_ENABLE, TORQUE_ENABLE, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
+ else
+ printf("Dynamixel has been successfully connected \n");
+
while(1)
{
- printf( "Press Enter key to continue!(press ESC and Enter to quit)\n" );
- if(_getch() == 0x1b)
+ printf("Press any key to continue! (or press ESC to quit!)\n");
+ if(_getch() == ESC_ASCII_VALUE)
break;
// Write goal position
@@ -152,8 +161,6 @@ int main()
do
{
- usleep(40*1000);
-
// Read present position
dxl_comm_result = packetHandler->Read4ByteTxRx(portHandler, DXL_ID, ADDR_PRO_PRESENT_POSITION, (UINT32_T*)&dxl_present_position, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
@@ -161,15 +168,9 @@ int main()
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
- // Check moving done
- dxl_comm_result = packetHandler->Read1ByteTxRx(portHandler, DXL_ID, ADDR_PRO_MOVING, &dxl_moving, &dxl_error);
- if(dxl_comm_result != COMM_SUCCESS)
- packetHandler->PrintTxRxResult(dxl_comm_result);
- else if(dxl_error != 0)
- packetHandler->PrintRxPacketError(dxl_error);
- printf("[ID:%03d] GoalPos:%03d PresPos:%03d Moving:%d\n", DXL_ID, dxl_goal_position[index], dxl_present_position, dxl_moving);
+ printf("[ID:%03d] GoalPos:%03d PresPos:%03d\n", DXL_ID, dxl_goal_position[index], dxl_present_position);
- }while(dxl_moving == 1);
+ }while((abs(dxl_goal_position[index] - dxl_present_position) > DXL_MOVING_STATUS_THRESHOLD));
// Change goal position
if( index == 0 )
@@ -178,8 +179,8 @@ int main()
index = 0;
}
- // Disable DXL Torque
- dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL_ID, ADDR_PRO_TORQUE_ENABLE, dxl_torque_disable, &dxl_error);
+ // Disable Dynamixel Torque
+ dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL_ID, ADDR_PRO_TORQUE_ENABLE, TORQUE_DISABLE, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
@@ -188,7 +189,5 @@ int main()
// Close port
portHandler->ClosePort();
- printf( "Press Enter key to terminate...\n" );
- _getch();
return 0;
}
diff --git a/c++/example/Protocol2.0/Reboot/Makefile b/c++/example/Protocol2.0/Reboot/Makefile
deleted file mode 100644
index 345847fb1df51b000c67ca03da653153924b2e86..0000000000000000000000000000000000000000
--- a/c++/example/Protocol2.0/Reboot/Makefile
+++ /dev/null
@@ -1,78 +0,0 @@
-##################################################
-# PROJECT: DXL Protocol 2.0 Reboot Example Makefile
-# AUTHOR : ROBOTIS Ltd.
-##################################################
-
-#---------------------------------------------------------------------
-# Makefile template for projects using DXL SDK
-#
-# Please make sure to follow these instructions when setting up your
-# own copy of this file:
-#
-# 1- Enter the name of the target (the TARGET variable)
-# 2- Add additional source files to the SOURCES variable
-# 3- Add additional static library objects to the OBJECTS variable
-# if necessary
-# 4- Ensure that compiler flags, INCLUDES, and LIBRARIES are
-# appropriate to your needs
-#
-#
-# This makefile will link against several libraries, not all of which
-# are necessarily needed for your project. Please feel free to
-# remove libaries you do not need.
-#---------------------------------------------------------------------
-
-# *** ENTER THE TARGET NAME HERE ***
-TARGET = Reboot
-
-# important directories used by assorted rules and other variables
-DIR_DXL = ../../..
-DIR_OBJS = .objects
-
-# compiler options
-CC = gcc
-CX = g++
-CCFLAGS = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall $(INCLUDES) -g
-CXFLAGS = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall $(INCLUDES) -g
-LNKCC = $(CX)
-LNKFLAGS = $(CXFLAGS) #-Wl,-rpath,$(DIR_THOR)/lib
-
-#---------------------------------------------------------------------
-# Core components (all of these are likely going to be needed)
-#---------------------------------------------------------------------
-INCLUDES += -I$(DIR_DXL)/include
-LIBRARIES += -ldxl
-
-#---------------------------------------------------------------------
-# Files
-#---------------------------------------------------------------------
-SOURCES = Reboot.cpp \
- # *** OTHER SOURCES GO HERE ***
-
-OBJECTS = $(addsuffix .o,$(addprefix $(DIR_OBJS)/,$(basename $(notdir $(SOURCES)))))
-#OBJETCS += *** ADDITIONAL STATIC LIBRARIES GO HERE ***
-
-
-#---------------------------------------------------------------------
-# Compiling Rules
-#---------------------------------------------------------------------
-$(TARGET): make_directory $(OBJECTS)
- $(LNKCC) $(LNKFLAGS) $(OBJECTS) -o $(TARGET) $(LIBRARIES)
-
-all: $(TARGET)
-
-clean:
- rm -rf $(TARGET) $(DIR_OBJS) core *~ *.a *.so *.lo
-
-make_directory:
- mkdir -p $(DIR_OBJS)/
-
-$(DIR_OBJS)/%.o: %.c
- $(CC) $(CCFLAGS) -c $? -o $@
-
-$(DIR_OBJS)/%.o: %.cpp
- $(CX) $(CXFLAGS) -c $? -o $@
-
-#---------------------------------------------------------------------
-# End of Makefile
-#---------------------------------------------------------------------
diff --git a/c++/example/Protocol2.0/Reboot/Reboot.cpp b/c++/example/Protocol2.0/Reboot/Reboot.cpp
index 638531c509553687e692df245f4c8e356265ab02..924d45829b48f799937e3559450715fb98b02fa9 100644
--- a/c++/example/Protocol2.0/Reboot/Reboot.cpp
+++ b/c++/example/Protocol2.0/Reboot/Reboot.cpp
@@ -9,33 +9,32 @@
// ********* Reboot Example *********
//
//
-// Available DXL model on this example : All models using Protocol 2.0
-// This example is tested with a DXL PRO 54-200, and USB2DYNAMIXEL
-// Be sure that DXL PRO properties are already set as %% ID : 1 / Baudnum : 3 (Baudrate : 1000000) / Min voltage limit : under 110 (when using 12V power supplement)
+// Available Dynamixel model on this example : All models using Protocol 2.0
+// This example is tested with a Dynamixel PRO 54-200, and USB2DYNAMIXEL
+// Be sure that Dynamixel PRO properties are already set as %% ID : 1 / Baudnum : 3 (Baudrate : 1000000)
//
#ifdef __linux__
#include <unistd.h>
#include <fcntl.h>
-#include <getopt.h>
#include <termios.h>
+#elif defined(_WIN32) || defined(_WIN64)
+#include <conio.h>
#endif
#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "DynamixelSDK.h"
+#include "DynamixelSDK.h" // Uses Dynamixel SDK library
// Protocol version
-#define PROTOCOL_VERSION 2.0
+#define PROTOCOL_VERSION 2.0 // See which protocol version is used in the Dynamixel
// Default setting
-#define DXL_ID 1
+#define DXL_ID 1 // Dynamixel ID: 1
#define BAUDRATE 1000000
-#define DEVICENAME "/dev/ttyUSB0"
+#define DEVICENAME "/dev/ttyUSB0" // Check which port is being used on your controller
+ // ex) Windows: "COM1" Linux: "/dev/ttyUSB0"
-using namespace ROBOTIS;
+using namespace ROBOTIS; // Uses functions defined in ROBOTIS namespace
#ifdef __linux__
int _getch()
@@ -87,11 +86,13 @@ int main()
PortHandler *portHandler = PortHandler::GetPortHandler(DEVICENAME);
// Initialize Packethandler instance
+ // Set the protocol version
+ // Get methods and members of Protocol1PacketHandler or Protocol2PacketHandler
PacketHandler *packetHandler = PacketHandler::GetPacketHandler(PROTOCOL_VERSION);
int dxl_comm_result = COMM_TX_FAIL; // Communication result
- UINT8_T dxl_error = 0;
+ UINT8_T dxl_error = 0; // Dynamixel error
// Open port
if( portHandler->OpenPort() )
@@ -120,23 +121,22 @@ int main()
}
// Trigger
- printf( "Press Enter key to reboot\n" );
+ printf( "Press any key to reboot\n" );
_getch();
+ printf("See the Dynamixel LED flickering\n");
// Try reboot
- // DXL Green LED will flicker while it reboots
+ // Dynamixel LED will flicker while it reboots
dxl_comm_result = packetHandler->Reboot(portHandler, DXL_ID, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
- printf("[ID:%03d] Reboot Succeeded\n", DXL_ID);
+ printf("[ID:%03d] Reboot Succeeded\n", DXL_ID);
- // Close port
+ // Close port
portHandler->ClosePort();
- printf( "Press Enter key to terminate...\n" );
- _getch();
return 0;
}
diff --git a/c++/example/Protocol2.0/SyncReadWrite/Makefile b/c++/example/Protocol2.0/SyncReadWrite/Makefile
deleted file mode 100644
index 24112475d4b41df80e12f5468070981fcad3c11d..0000000000000000000000000000000000000000
--- a/c++/example/Protocol2.0/SyncReadWrite/Makefile
+++ /dev/null
@@ -1,78 +0,0 @@
-##################################################
-# PROJECT: DXL Protocol 2.0 SyncReadWrite Example Makefile
-# AUTHOR : ROBOTIS Ltd.
-##################################################
-
-#---------------------------------------------------------------------
-# Makefile template for projects using DXL SDK
-#
-# Please make sure to follow these instructions when setting up your
-# own copy of this file:
-#
-# 1- Enter the name of the target (the TARGET variable)
-# 2- Add additional source files to the SOURCES variable
-# 3- Add additional static library objects to the OBJECTS variable
-# if necessary
-# 4- Ensure that compiler flags, INCLUDES, and LIBRARIES are
-# appropriate to your needs
-#
-#
-# This makefile will link against several libraries, not all of which
-# are necessarily needed for your project. Please feel free to
-# remove libaries you do not need.
-#---------------------------------------------------------------------
-
-# *** ENTER THE TARGET NAME HERE ***
-TARGET = SyncReadWrite
-
-# important directories used by assorted rules and other variables
-DIR_DXL = ../../..
-DIR_OBJS = .objects
-
-# compiler options
-CC = gcc
-CX = g++
-CCFLAGS = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall $(INCLUDES) -g
-CXFLAGS = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall $(INCLUDES) -g
-LNKCC = $(CX)
-LNKFLAGS = $(CXFLAGS) #-Wl,-rpath,$(DIR_THOR)/lib
-
-#---------------------------------------------------------------------
-# Core components (all of these are likely going to be needed)
-#---------------------------------------------------------------------
-INCLUDES += -I$(DIR_DXL)/include
-LIBRARIES += -ldxl
-
-#---------------------------------------------------------------------
-# Files
-#---------------------------------------------------------------------
-SOURCES = SyncReadWrite.cpp \
- # *** OTHER SOURCES GO HERE ***
-
-OBJECTS = $(addsuffix .o,$(addprefix $(DIR_OBJS)/,$(basename $(notdir $(SOURCES)))))
-#OBJETCS += *** ADDITIONAL STATIC LIBRARIES GO HERE ***
-
-
-#---------------------------------------------------------------------
-# Compiling Rules
-#---------------------------------------------------------------------
-$(TARGET): make_directory $(OBJECTS)
- $(LNKCC) $(LNKFLAGS) $(OBJECTS) -o $(TARGET) $(LIBRARIES)
-
-all: $(TARGET)
-
-clean:
- rm -rf $(TARGET) $(DIR_OBJS) core *~ *.a *.so *.lo
-
-make_directory:
- mkdir -p $(DIR_OBJS)/
-
-$(DIR_OBJS)/%.o: %.c
- $(CC) $(CCFLAGS) -c $? -o $@
-
-$(DIR_OBJS)/%.o: %.cpp
- $(CX) $(CXFLAGS) -c $? -o $@
-
-#---------------------------------------------------------------------
-# End of Makefile
-#---------------------------------------------------------------------
diff --git a/c++/example/Protocol2.0/SyncReadWrite/SyncReadWrite.cpp b/c++/example/Protocol2.0/SyncReadWrite/SyncReadWrite.cpp
index 6bc48aafbecff239d97814bf91228f66e38b4e53..6437dc81a0f1eb3547bf7c131ea345cde18c0e30 100644
--- a/c++/example/Protocol2.0/SyncReadWrite/SyncReadWrite.cpp
+++ b/c++/example/Protocol2.0/SyncReadWrite/SyncReadWrite.cpp
@@ -9,46 +9,51 @@
// ********* Sync Read and Sync Write Example *********
//
//
-// Available DXL model on this example : All models using Protocol 2.0
-// This example is tested with two DXL PRO 54-200, and an USB2DYNAMIXEL
-// Be sure that DXL PRO properties are already set as %% ID : 1 / Baudnum : 3 (Baudrate : 1000000) / Min voltage limit : under 110 (when using 12V power supplement)
+// Available Dynamixel model on this example : All models using Protocol 2.0
+// This example is tested with two Dynamixel PRO 54-200, and an USB2DYNAMIXEL
+// Be sure that Dynamixel PRO properties are already set as %% ID : 1 / Baudnum : 3 (Baudrate : 1000000)
//
#ifdef __linux__
#include <unistd.h>
#include <fcntl.h>
-#include <getopt.h>
#include <termios.h>
+#elif defined(_WIN32) || defined(_WIN64)
+#include <conio.h>
#endif
-#include <stdio.h>
#include <stdlib.h>
-#include <string.h>
-
-#include "DynamixelSDK.h"
+#include <stdio.h>
+#include "DynamixelSDK.h" // Uses Dynamixel SDK library
// Control table address
-#define ADDR_PRO_TORQUE_ENABLE 562
+#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_TORQUE_ENABLE 1
-#define LEN_PRO_GOAL_POSITION 4
-#define LEN_PRO_PRESENT_POSITION 4
+#define LEN_PRO_GOAL_POSITION 4
+#define LEN_PRO_PRESENT_POSITION 4
// Protocol version
-#define PROTOCOL_VERSION 2.0
+#define PROTOCOL_VERSION 2.0 // See which protocol version is used in the Dynamixel
// Default setting
-#define DXL1_ID 1 // DXL#1 ID:1
-#define DXL2_ID 2 // DXL#2 ID:2
+#define DXL1_ID 1 // Dynamixel#1 ID: 1
+#define DXL2_ID 2 // Dynamixel#2 ID: 2
#define BAUDRATE 1000000
-#define DEVICENAME "/dev/ttyUSB0"
+#define DEVICENAME "/dev/ttyUSB0" // Check which port is being used on your controller
+ // ex) Windows: "COM1" Linux: "/dev/ttyUSB0"
+
+#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 STOP_MOVING_MARGIN 20 // Criteria for considering DXL moving status as stopped
+#define ESC_ASCII_VALUE 0x1b
-using namespace ROBOTIS;
+using namespace ROBOTIS; // Uses functions defined in ROBOTIS namespace
#ifdef __linux__
int _getch()
@@ -100,25 +105,25 @@ int main()
PortHandler *portHandler = PortHandler::GetPortHandler(DEVICENAME);
// Initialize Packethandler instance
+ // Set the protocol version
+ // Get methods and members of Protocol1PacketHandler or Protocol2PacketHandler
PacketHandler *packetHandler = PacketHandler::GetPacketHandler(PROTOCOL_VERSION);
- // Initialize Groupsyncwrite instance for Goal Position
+ // Initialize Groupsyncwrite instance
GroupSyncWrite groupSyncWrite(portHandler, packetHandler, ADDR_PRO_GOAL_POSITION, LEN_PRO_GOAL_POSITION);
// Initialize Groupsyncread instance for Present Position
GroupSyncRead groupSyncRead(portHandler, packetHandler, ADDR_PRO_PRESENT_POSITION, LEN_PRO_PRESENT_POSITION);
int index = 0;
- int dxl_comm_result = COMM_TX_FAIL; // Communication result
- int dxl_addparam_result = false; // AddParam result
- int dxl_getdata_result = false; // GetParam result
- int dxl_goal_position[2] = {-150000, 150000}; // Goal position
-
- UINT8_T dxl_torque_enable = 1; // Value for torque enable
- UINT8_T dxl_torque_disable = 0; // Value for torque unable
- UINT8_T dxl_error = 0; // DXL error
+ 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
UINT8_T param_goal_position[4];
- INT32_T dxl_present_position1, dxl_present_position2; // Present position
+ INT32_T dxl1_present_position = 0, dxl2_present_position = 0; // Present position
// Open port
if( portHandler->OpenPort() )
@@ -146,23 +151,25 @@ int main()
return 0;
}
- // Enable DXL#1 Torque
- dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL1_ID, ADDR_PRO_TORQUE_ENABLE, dxl_torque_enable, &dxl_error);
- if(dxl_comm_result != COMM_SUCCESS)
+ // Enable Dynamixel#1 Torque
+ dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL1_ID, ADDR_PRO_TORQUE_ENABLE, TORQUE_ENABLE, &dxl_error);
+ if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
- printf("DXL#%d successfully connected\n", DXL1_ID);
+ else
+ printf("Dynamixel#%d has been successfully connected \n", DXL1_ID);
- // Enable DXL#2 Torque
- dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL2_ID, ADDR_PRO_TORQUE_ENABLE, dxl_torque_enable, &dxl_error);
+ // Enable Dynamixel#2 Torque
+ dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL2_ID, ADDR_PRO_TORQUE_ENABLE, TORQUE_ENABLE, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
- printf("DXL#%d successfully connected\n", DXL2_ID);
+ else
+ printf("Dynamixel#%d has been successfully connected \n", DXL2_ID);
- // Add parameter storage for DXL#1 present position value
+ // Add parameter storage for Dynamixel#1 present position value
dxl_addparam_result = groupSyncRead.AddParam(DXL1_ID);
if( dxl_addparam_result != true )
{
@@ -170,7 +177,7 @@ int main()
return 0;
}
- // Add parameter storage for DXL#2 present position value
+ // Add parameter storage for Dynamixel#2 present position value
dxl_addparam_result = groupSyncRead.AddParam(DXL2_ID);
if( dxl_addparam_result != true )
{
@@ -180,8 +187,8 @@ int main()
while(1)
{
- printf( "Press Enter key to continue!(press ESC and Enter to quit)\n" );
- if(_getch() == 0x1b)
+ printf("Press any key to continue! (or press ESC to quit!)\n");
+ if(_getch() == ESC_ASCII_VALUE)
break;
// Allocate goal position value into byte array
@@ -190,19 +197,19 @@ int main()
param_goal_position[2] = DXL_LOBYTE(DXL_HIWORD(dxl_goal_position[index]));
param_goal_position[3] = DXL_HIBYTE(DXL_HIWORD(dxl_goal_position[index]));
- // Add DXL#1 goal position value to the Syncwrite storage
+ // Add Dynamixel#1 goal position value to the Syncwrite storage
dxl_addparam_result = groupSyncWrite.AddParam(DXL1_ID, param_goal_position);
if( dxl_addparam_result != true )
{
- fprintf(stderr, "[ID:%03d] groupBulkWrite addparam failed", DXL1_ID);
+ fprintf(stderr, "[ID:%03d] groupSyncWrite addparam failed", DXL1_ID);
return 0;
}
- // Add DXL#2 goal position value to the Syncwrite storage
+ // Add Dynamixel#2 goal position value to the Syncwrite parameter storage
dxl_addparam_result = groupSyncWrite.AddParam(DXL2_ID, param_goal_position);
if( dxl_addparam_result != true )
{
- fprintf(stderr, "[ID:%03d] groupBulkWrite addparam failed", DXL2_ID);
+ fprintf(stderr, "[ID:%03d] groupSyncWrite addparam failed", DXL2_ID);
return 0;
}
@@ -210,15 +217,12 @@ int main()
dxl_comm_result = groupSyncWrite.TxPacket();
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
- else if(dxl_error != 0)
- packetHandler->PrintRxPacketError(dxl_error);
// Clear syncwrite parameter storage
groupSyncWrite.ClearParam();
- do{
- //usleep(40*1000);
-
+ do
+ {
// Syncread present position
dxl_comm_result = groupSyncRead.TxRxPacket();
if(dxl_comm_result != COMM_SUCCESS)
@@ -226,52 +230,56 @@ int main()
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
- // Get DXL#1 present position value
- dxl_getdata_result = groupSyncRead.GetData(DXL1_ID, ADDR_PRO_PRESENT_POSITION, (UINT32_T*)&dxl_present_position1);
- if( dxl_getdata_result != true )
+ // Check if groupsyncread data of Dynamixel#1 is available
+ dxl_getdata_result = groupSyncRead.IsAvailable(DXL1_ID, ADDR_PRO_PRESENT_POSITION, LEN_PRO_PRESENT_POSITION);
+ if (dxl_getdata_result != true)
{
- fprintf(stderr, "[ID:%03d] groupSyncRead getdata failed", DXL2_ID);
+ fprintf(stderr, "[ID:%03d] groupSyncRead getdata failed", DXL1_ID);
return 0;
}
- // Get DXL#2 present position value
- dxl_getdata_result = groupSyncRead.GetData(DXL2_ID, ADDR_PRO_PRESENT_POSITION, (UINT32_T*)&dxl_present_position2);
- if( dxl_getdata_result != true )
+ // Check if groupsyncread data of Dynamixel#2 is available
+ dxl_getdata_result = groupSyncRead.IsAvailable(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;
}
- printf("[ID:%03d] GoalPos:%03d PresPos:%03d [ID:%03d] GoalPos:%03d PresPos:%03d\n", DXL1_ID, dxl_goal_position[index], dxl_present_position1, DXL2_ID, dxl_goal_position[index], dxl_present_position2);
- }while((abs(dxl_goal_position[index] - dxl_present_position1) > STOP_MOVING_MARGIN) || (abs(dxl_goal_position[index] - dxl_present_position2) > STOP_MOVING_MARGIN));
+ // Get Dynamixel#1 present position value
+ dxl1_present_position = groupSyncRead.GetData(DXL1_ID, ADDR_PRO_PRESENT_POSITION, LEN_PRO_PRESENT_POSITION);
+
+ // Get Dynamixel#2 present position value
+ dxl2_present_position = groupSyncRead.GetData(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;
}
- // Clear syncread parameter storage
- groupSyncRead.ClearParam();
-
- // Disable DXL#1 Torque
- dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL1_ID, ADDR_PRO_TORQUE_ENABLE, dxl_torque_disable, &dxl_error);
+ // Disable Dynamixel#1 Torque
+ dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL1_ID, ADDR_PRO_TORQUE_ENABLE, TORQUE_DISABLE, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
- // Disable DXL#2 Torque
- dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL2_ID, ADDR_PRO_TORQUE_ENABLE, dxl_torque_disable, &dxl_error);
+ // Disable Dynamixel#2 Torque
+ dxl_comm_result = packetHandler->Write1ByteTxRx(portHandler, DXL2_ID, ADDR_PRO_TORQUE_ENABLE, TORQUE_DISABLE, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
packetHandler->PrintRxPacketError(dxl_error);
+
// Close port
portHandler->ClosePort();
- printf( "Press Enter key to terminate...\n" );
- _getch();
return 0;
}
diff --git a/c++/example/ProtocolCombined/Makefile b/c++/example/ProtocolCombined/Makefile
deleted file mode 100644
index 6b809a11b99a4cabd4add79d1b135d60c77d8ac6..0000000000000000000000000000000000000000
--- a/c++/example/ProtocolCombined/Makefile
+++ /dev/null
@@ -1,78 +0,0 @@
-##################################################
-# PROJECT: DXL ProtocolCombined Example Makefile
-# AUTHOR : ROBOTIS Ltd.
-##################################################
-
-#---------------------------------------------------------------------
-# Makefile template for projects using DXL SDK
-#
-# Please make sure to follow these instructions when setting up your
-# own copy of this file:
-#
-# 1- Enter the name of the target (the TARGET variable)
-# 2- Add additional source files to the SOURCES variable
-# 3- Add additional static library objects to the OBJECTS variable
-# if necessary
-# 4- Ensure that compiler flags, INCLUDES, and LIBRARIES are
-# appropriate to your needs
-#
-#
-# This makefile will link against several libraries, not all of which
-# are necessarily needed for your project. Please feel free to
-# remove libaries you do not need.
-#---------------------------------------------------------------------
-
-# *** ENTER THE TARGET NAME HERE ***
-TARGET = ProtocolCombined
-
-# important directories used by assorted rules and other variables
-DIR_DXL = ../..
-DIR_OBJS = .objects
-
-# compiler options
-CC = gcc
-CX = g++
-CCFLAGS = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall $(INCLUDES) -g
-CXFLAGS = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall $(INCLUDES) -g
-LNKCC = $(CX)
-LNKFLAGS = $(CXFLAGS) #-Wl,-rpath,$(DIR_THOR)/lib
-
-#---------------------------------------------------------------------
-# Core components (all of these are likely going to be needed)
-#---------------------------------------------------------------------
-INCLUDES += -I$(DIR_DXL)/include
-LIBRARIES += -ldxl
-
-#---------------------------------------------------------------------
-# Files
-#---------------------------------------------------------------------
-SOURCES = ProtocolCombined.cpp \
- # *** OTHER SOURCES GO HERE ***
-
-OBJECTS = $(addsuffix .o,$(addprefix $(DIR_OBJS)/,$(basename $(notdir $(SOURCES)))))
-#OBJETCS += *** ADDITIONAL STATIC LIBRARIES GO HERE ***
-
-
-#---------------------------------------------------------------------
-# Compiling Rules
-#---------------------------------------------------------------------
-$(TARGET): make_directory $(OBJECTS)
- $(LNKCC) $(LNKFLAGS) $(OBJECTS) -o $(TARGET) $(LIBRARIES)
-
-all: $(TARGET)
-
-clean:
- rm -rf $(TARGET) $(DIR_OBJS) core *~ *.a *.so *.lo
-
-make_directory:
- mkdir -p $(DIR_OBJS)/
-
-$(DIR_OBJS)/%.o: %.c
- $(CC) $(CCFLAGS) -c $? -o $@
-
-$(DIR_OBJS)/%.o: %.cpp
- $(CX) $(CXFLAGS) -c $? -o $@
-
-#---------------------------------------------------------------------
-# End of Makefile
-#---------------------------------------------------------------------
diff --git a/c++/example/ProtocolCombined/ProtocolCombined.cpp b/c++/example/ProtocolCombined/ProtocolCombined.cpp
index 4c8abed2948e38daac769fefcfbb7b3660a4d37c..e39ce313028f094c54380469ba6dcd0341d63a09 100644
--- a/c++/example/ProtocolCombined/ProtocolCombined.cpp
+++ b/c++/example/ProtocolCombined/ProtocolCombined.cpp
@@ -9,52 +9,60 @@
// ********* Protocol Combined Example *********
//
//
-// Available DXL model on this example : All models using Protocol 1.0 and 2.0
-// This example is tested with a DXL MX-28, a DXL PRO 54-200 and an USB2DYNAMIXEL
-// Be sure that properties of DXL MX and PRO are already set as %% MX - ID : 1 / Baudnum : 1 (Baudrate : 1000000) , PRO - ID : 1 / Baudnum : 3 (Baudrate : 1000000)
+// Available Dynamixel model on this example : All models using Protocol 1.0 and 2.0
+// This example is tested with a Dynamixel MX-28, a Dynamixel PRO 54-200 and an USB2DYNAMIXEL
+// Be sure that properties of Dynamixel MX and PRO are already set as %% MX - ID : 1 / Baudnum : 1 (Baudrate : 1000000) , PRO - ID : 1 / Baudnum : 3 (Baudrate : 1000000)
//
// Be aware that:
-// This example configures two different control tables (especially, if it uses DXL and DXL PRO). It may modify critical DXL parameter on the control table, if DXLs have wrong ID.
+// This example configures two different control tables (especially, if it uses Dynamixel and Dynamixel PRO). It may modify critical Dynamixel parameter on the control table, if Dynamixels have wrong ID.
//
#ifdef __linux__
#include <unistd.h>
#include <fcntl.h>
-#include <getopt.h>
#include <termios.h>
+#elif defined(_WIN32) || defined(_WIN64)
+#include <conio.h>
#endif
-#include <stdio.h>
#include <stdlib.h>
-#include <string.h>
-
-#include "DynamixelSDK.h"
+#include <stdio.h>
+#include "DynamixelSDK.h" // Uses Dynamixel SDK library
-// Control table address for DXL MX
-#define ADDR_MX_TORQUE_ENABLE 24
+// Control table address for Dynamixel MX
+#define ADDR_MX_TORQUE_ENABLE 24 // Control table address is different in Dynamixel model
#define ADDR_MX_GOAL_POSITION 30
#define ADDR_MX_PRESENT_POSITION 36
-// Control table address for DXL PRO
+// Control table address for Dynamixel PRO
#define ADDR_PRO_TORQUE_ENABLE 562
#define ADDR_PRO_GOAL_POSITION 596
#define ADDR_PRO_PRESENT_POSITION 611
-// Protocol versions
-#define PROTOCOL_VERSION1 1.0
+// Protocol version
+#define PROTOCOL_VERSION1 1.0 // See which protocol version is used in the Dynamixel
#define PROTOCOL_VERSION2 2.0
// Default setting
-#define DXL1_ID 1 // MX
-#define DXL2_ID 2 // PRO
+#define DXL1_ID 1 // Dynamixel#1 ID: 1
+#define DXL2_ID 2 // Dynamixel#2 ID: 2
#define BAUDRATE 1000000
-#define DEVICENAME "/dev/ttyUSB0"
+#define DEVICENAME "/dev/ttyUSB0" // Check which port is being used on your controller
+ // ex) Windows: "COM1" Linux: "/dev/ttyUSB0"
-#define STOP_MOVING_MARGIN1 10
-#define STOP_MOVING_MARGIN2 20
+#define TORQUE_ENABLE 1 // Value for enabling the torque
+#define TORQUE_DISABLE 0 // Value for disabling the torque
+#define DXL1_MINIMUM_POSITION_VALUE 100 // Dynamixel will rotate between this value
+#define DXL1_MAXIMUM_POSITION_VALUE 4000 // 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 DXL2_MINIMUM_POSITION_VALUE -150000
+#define DXL2_MAXIMUM_POSITION_VALUE 150000
+#define DXL1_MOVING_STATUS_THRESHOLD 10 // Dynamixel MX moving status threshold
+#define DXL2_MOVING_STATUS_THRESHOLD 20 // Dynamixel PRO moving status threshold
-using namespace ROBOTIS;
+#define ESC_ASCII_VALUE 0x1b
+
+using namespace ROBOTIS; // Uses functions defined in ROBOTIS namespace
#ifdef __linux__
int _getch()
@@ -103,26 +111,22 @@ int main()
// Initialize PortHandler instance
// Set the port path
// Get methods and members of PortHandlerLinux or PortHandlerWindows
- PortHandler *portHandler = (PortHandler*)PortHandler::GetPortHandler(DEVICENAME);
+ PortHandler *portHandler = PortHandler::GetPortHandler(DEVICENAME);
- // Initialize Packethandler instance for Protocol 1.0
- // Get Protocol1PacketHandler methods and members
+ // Initialize Packethandler instance
+ // Set the protocol version
+ // Get methods and members of Protocol1PacketHandler or Protocol2PacketHandler
PacketHandler *packetHandler1 = PacketHandler::GetPacketHandler(PROTOCOL_VERSION1);
-
- // Initialize Packethandler instance for Protocol 2.0
- // Get Protocol1PacketHandler methods and members
PacketHandler *packetHandler2 = PacketHandler::GetPacketHandler(PROTOCOL_VERSION2);
int index = 0;
- int dxl_comm_result = COMM_TX_FAIL; // Communication result
- int dxl_goal_position1[2] = { 100, 1000 }; // Goal position1
- int dxl_goal_position2[2] = {-150000, 150000 }; // Goal position2
+ int dxl_comm_result = COMM_TX_FAIL; // Communication result
+ int dxl1_goal_position[2] = {DXL1_MINIMUM_POSITION_VALUE, DXL1_MAXIMUM_POSITION_VALUE}; // Goal position of Dynamixel MX
+ int dxl2_goal_position[2] = {DXL2_MINIMUM_POSITION_VALUE, DXL2_MAXIMUM_POSITION_VALUE}; // Goal position of Dynamixel PRO
- UINT8_T dxl_torque_enable = 1; // Value for torque enable
- UINT8_T dxl_torque_disable = 0; // Value for torque unable
- UINT8_T dxl_error = 0; // DXL error
- UINT16_T dxl_present_position1; // Present position1
- INT32_T dxl_present_position2; // Present position2
+ UINT8_T dxl_error = 0; // Dynamixel error
+ UINT16_T dxl1_present_position = 0; // Present position of Dynamixel MX
+ INT32_T dxl2_present_position = 0; // Present position of Dynamixel PRO
// Open port
if( portHandler->OpenPort() )
@@ -150,37 +154,39 @@ int main()
return 0;
}
- // Enable DXL#1 torque
- dxl_comm_result = packetHandler1->Write1ByteTxRx(portHandler, DXL1_ID, ADDR_MX_TORQUE_ENABLE, dxl_torque_enable, &dxl_error);
+ // Enable Dynamixel#1 torque
+ dxl_comm_result = packetHandler1->Write1ByteTxRx(portHandler, DXL1_ID, ADDR_MX_TORQUE_ENABLE, TORQUE_ENABLE, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler1->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
packetHandler1->PrintRxPacketError(dxl_error);
- printf("DXL#%d successfully connected\n", DXL1_ID);
+ else
+ printf("Dynamixel#%d has been successfully connected \n", DXL1_ID);
- // Enable DXL#2 torque
- dxl_comm_result = packetHandler2->Write1ByteTxRx(portHandler, DXL2_ID, ADDR_PRO_TORQUE_ENABLE, dxl_torque_enable, &dxl_error);
+ // Enable Dynamixel#2 torque
+ dxl_comm_result = packetHandler2->Write1ByteTxRx(portHandler, DXL2_ID, ADDR_PRO_TORQUE_ENABLE, TORQUE_ENABLE, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler2->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
packetHandler2->PrintRxPacketError(dxl_error);
- printf("DXL#%d successfully connected\n", DXL2_ID);
+ else
+ printf("Dynamixel#%d has been successfully connected \n", DXL2_ID);
while(1)
{
- printf( "Press Enter key to continue!(press ESC and Enter to quit)\n" );
- if(_getch() == 0x1b)
+ printf("Press any key to continue! (or press ESC to quit!)\n");
+ if(_getch() == ESC_ASCII_VALUE)
break;
- // Write DXL#1 goal position
- dxl_comm_result = packetHandler1->Write2ByteTxRx(portHandler, DXL1_ID, ADDR_MX_GOAL_POSITION, dxl_goal_position1[index], &dxl_error);
+ // Write Dynamixel#1 goal position
+ dxl_comm_result = packetHandler1->Write2ByteTxRx(portHandler, DXL1_ID, ADDR_MX_GOAL_POSITION, dxl1_goal_position[index], &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler1->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
packetHandler1->PrintRxPacketError(dxl_error);
- // Write DXL#2 goal position
- dxl_comm_result = packetHandler2->Write4ByteTxRx(portHandler, DXL2_ID, ADDR_PRO_GOAL_POSITION, dxl_goal_position2[index], &dxl_error);
+ // Write Dynamixel#2 goal position
+ dxl_comm_result = packetHandler2->Write4ByteTxRx(portHandler, DXL2_ID, ADDR_PRO_GOAL_POSITION, dxl2_goal_position[index], &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler2->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
@@ -188,24 +194,23 @@ int main()
do
{
- usleep(40*1000);
-
- // Read DXL#1 present position
- dxl_comm_result = packetHandler1->Read2ByteTxRx(portHandler, DXL1_ID, ADDR_MX_PRESENT_POSITION, &dxl_present_position1, &dxl_error);
+ // Read Dynamixel#1 present position
+ dxl_comm_result = packetHandler1->Read2ByteTxRx(portHandler, DXL1_ID, ADDR_MX_PRESENT_POSITION, &dxl1_present_position, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler1->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
packetHandler1->PrintRxPacketError(dxl_error);
- // Read DXL#2 present position
- dxl_comm_result = packetHandler2->Read4ByteTxRx(portHandler, DXL2_ID, ADDR_PRO_PRESENT_POSITION, (UINT32_T*)&dxl_present_position2, &dxl_error);
+ // Read Dynamixel#2 present position
+ dxl_comm_result = packetHandler2->Read4ByteTxRx(portHandler, DXL2_ID, ADDR_PRO_PRESENT_POSITION, (UINT32_T*)&dxl2_present_position, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler2->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
packetHandler2->PrintRxPacketError(dxl_error);
- printf("[ID:%03d] GoalPos:%03d PresPos:%03d [ID:%03d] GoalPos:%03d PresPos:%03d\n", DXL1_ID, dxl_goal_position1[index], dxl_present_position1, DXL2_ID, dxl_goal_position2[index], dxl_present_position2);
- }while((abs(dxl_goal_position1[index] - dxl_present_position1) > STOP_MOVING_MARGIN1) || (abs(dxl_goal_position2[index] - dxl_present_position2) > STOP_MOVING_MARGIN2));
+ printf("[ID:%03d] GoalPos:%03d PresPos:%03d [ID:%03d] GoalPos:%03d PresPos:%03d\n", DXL1_ID, dxl1_goal_position[index], dxl1_present_position, DXL2_ID, dxl2_goal_position[index], dxl2_present_position);
+
+ }while((abs(dxl1_goal_position[index] - dxl1_present_position) > DXL1_MOVING_STATUS_THRESHOLD) || (abs(dxl2_goal_position[index] - dxl2_present_position) > DXL2_MOVING_STATUS_THRESHOLD));
// Change goal position
if( index == 0 )
@@ -214,24 +219,22 @@ int main()
index = 0;
}
- // Disable DXL#1 Torque
- dxl_comm_result = packetHandler1->Write1ByteTxRx(portHandler, DXL1_ID, ADDR_MX_TORQUE_ENABLE, dxl_torque_disable, &dxl_error);
+ // Disable Dynamixel#1 Torque
+ dxl_comm_result = packetHandler1->Write1ByteTxRx(portHandler, DXL1_ID, ADDR_MX_TORQUE_ENABLE, TORQUE_DISABLE, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler1->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
packetHandler1->PrintRxPacketError(dxl_error);
- // Disable DXL#2 Torque
- dxl_comm_result = packetHandler2->Write1ByteTxRx(portHandler, DXL2_ID, ADDR_PRO_TORQUE_ENABLE, dxl_torque_disable, &dxl_error);
+ // Disable Dynamixel#2 Torque
+ dxl_comm_result = packetHandler2->Write1ByteTxRx(portHandler, DXL2_ID, ADDR_PRO_TORQUE_ENABLE, TORQUE_DISABLE, &dxl_error);
if(dxl_comm_result != COMM_SUCCESS)
packetHandler2->PrintTxRxResult(dxl_comm_result);
else if(dxl_error != 0)
packetHandler2->PrintRxPacketError(dxl_error);
- // Close port
+ // Close port
portHandler->ClosePort();
- printf( "Press Enter key to terminate...\n" );
- _getch();
return 0;
}
diff --git a/c++/include/DynamixelSDK.h b/c++/include/DynamixelSDK.h
index e64ae0d06624b050064d013f1856321fa5d679a8..0d34655c663577048b8cb8fbbd6a13fbcce27e6c 100644
--- a/c++/include/DynamixelSDK.h
+++ b/c++/include/DynamixelSDK.h
@@ -2,7 +2,7 @@
* DynamixelSDK.h
*
* Created on: 2016. 3. 8.
- * Author: zerom
+ * Author: zerom, leon
*/
#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_DYNAMIXELSDK_H_
diff --git a/c++/include/dynamixel_sdk/GroupBulkRead.h b/c++/include/dynamixel_sdk/GroupBulkRead.h
index 0f445eb9ebf381b55d1b258d790946c5568d57f7..bd3374b3db2bf1eaa201918d86240a983d5dad9e 100644
--- a/c++/include/dynamixel_sdk/GroupBulkRead.h
+++ b/c++/include/dynamixel_sdk/GroupBulkRead.h
@@ -2,7 +2,7 @@
* GroupBulkRead.h
*
* Created on: 2016. 1. 28.
- * Author: zerom
+ * Author: zerom, leon
*/
#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPBULKREAD_H_
@@ -18,7 +18,7 @@
namespace ROBOTIS
{
-class GroupBulkRead
+class WINDECLSPEC GroupBulkRead
{
private:
PortHandler *port_;
diff --git a/c++/include/dynamixel_sdk/GroupBulkWrite.h b/c++/include/dynamixel_sdk/GroupBulkWrite.h
index 650bc25edf3e6dc0ccfb38701ef915dbba414b65..3efbb8095d360de6be44b9cd8a6ab8a6c3b8fa6f 100644
--- a/c++/include/dynamixel_sdk/GroupBulkWrite.h
+++ b/c++/include/dynamixel_sdk/GroupBulkWrite.h
@@ -2,7 +2,7 @@
* GroupBulkWrite.h
*
* Created on: 2016. 2. 2.
- * Author: zerom
+ * Author: zerom, leon
*/
#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPBULKWRITE_H_
@@ -18,7 +18,7 @@
namespace ROBOTIS
{
-class GroupBulkWrite
+class WINDECLSPEC GroupBulkWrite
{
private:
PortHandler *port_;
diff --git a/c++/include/dynamixel_sdk/GroupSyncRead.h b/c++/include/dynamixel_sdk/GroupSyncRead.h
index 4e0e3a1b0e77b490b20f270ff2da9668e563bc12..b6599de1d0f4402addb304f98de57568ad710ec0 100644
--- a/c++/include/dynamixel_sdk/GroupSyncRead.h
+++ b/c++/include/dynamixel_sdk/GroupSyncRead.h
@@ -2,7 +2,7 @@
* GroupSyncRead.h
*
* Created on: 2016. 2. 2.
- * Author: zerom
+ * Author: zerom, leon
*/
#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPSYNCREAD_H_
@@ -18,7 +18,7 @@
namespace ROBOTIS
{
-class GroupSyncRead
+class WINDECLSPEC GroupSyncRead
{
private:
PortHandler *port_;
diff --git a/c++/include/dynamixel_sdk/GroupSyncWrite.h b/c++/include/dynamixel_sdk/GroupSyncWrite.h
index 28e145852f2c7daf6f9d5d08c346ec2cfec16a65..1ff03b2915939dd9fb3bcbcabd5dbef5fdb04d60 100644
--- a/c++/include/dynamixel_sdk/GroupSyncWrite.h
+++ b/c++/include/dynamixel_sdk/GroupSyncWrite.h
@@ -2,7 +2,7 @@
* GroupSyncWrite.h
*
* Created on: 2016. 1. 28.
- * Author: zerom
+ * Author: zerom, leon
*/
#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPSYNCWRITE_H_
@@ -18,7 +18,7 @@
namespace ROBOTIS
{
-class GroupSyncWrite
+class WINDECLSPEC GroupSyncWrite
{
private:
PortHandler *port_;
diff --git a/c++/include/dynamixel_sdk/PacketHandler.h b/c++/include/dynamixel_sdk/PacketHandler.h
index 6edb44e05fd2283d7fd40944d2828b94eddc8c2d..921d3808dc4dfe18014281ee53a01c8db40332e3 100644
--- a/c++/include/dynamixel_sdk/PacketHandler.h
+++ b/c++/include/dynamixel_sdk/PacketHandler.h
@@ -2,7 +2,7 @@
* PacketHandler.h
*
* Created on: 2016. 1. 26.
- * Author: zerom
+ * Author: zerom, leon
*/
#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PACKETHANDLER_H_
@@ -54,7 +54,7 @@
namespace ROBOTIS
{
-class PacketHandler
+class WINDECLSPEC PacketHandler
{
protected:
PacketHandler() { }
diff --git a/c++/include/dynamixel_sdk/PortHandler.h b/c++/include/dynamixel_sdk/PortHandler.h
index 6920f8eab6023497ae1ea1536cbdb9ff23242a42..6d3e6ddf835dba8ae99834101083b0a8b652b6ee 100644
--- a/c++/include/dynamixel_sdk/PortHandler.h
+++ b/c++/include/dynamixel_sdk/PortHandler.h
@@ -2,19 +2,28 @@
* PortHandler.h
*
* Created on: 2016. 1. 26.
- * Author: zerom
+ * Author: zerom, leon
*/
#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PORTHANDLER_H_
#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PORTHANDLER_H_
+#ifdef __linux__
+#define WINDECLSPEC
+#elif defined(_WIN32) || defined(_WIN64)
+#ifdef WINDLLEXPORT
+#define WINDECLSPEC __declspec(dllexport)
+#else
+#define WINDECLSPEC __declspec(dllimport)
+#endif
+#endif
#include "RobotisDef.h"
namespace ROBOTIS
{
-class PortHandler
+class WINDECLSPEC PortHandler
{
public:
static const int DEFAULT_BAUDRATE = 1000000;
diff --git a/c++/include/dynamixel_sdk/Protocol1PacketHandler.h b/c++/include/dynamixel_sdk/Protocol1PacketHandler.h
index 55182f4759c53338a891c6fe626b79bee350f224..1932d2723e67cd90ce1462645dc711d9bfd85349 100644
--- a/c++/include/dynamixel_sdk/Protocol1PacketHandler.h
+++ b/c++/include/dynamixel_sdk/Protocol1PacketHandler.h
@@ -2,7 +2,7 @@
* Protocol1PacketHandler.h
*
* Created on: 2016. 1. 26.
- * Author: zerom
+ * Author: zerom, leon
*/
#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PROTOCOL1PACKETHANDLER_H_
@@ -14,7 +14,7 @@
namespace ROBOTIS
{
-class Protocol1PacketHandler : public PacketHandler
+class WINDECLSPEC Protocol1PacketHandler : public PacketHandler
{
private:
static Protocol1PacketHandler *unique_instance_;
diff --git a/c++/include/dynamixel_sdk/Protocol2PacketHandler.h b/c++/include/dynamixel_sdk/Protocol2PacketHandler.h
index 823c226c871317ab50ae92f040cd5795fd99e6f9..101413c31e06959f91ffa2e7e2e831a6603011b8 100644
--- a/c++/include/dynamixel_sdk/Protocol2PacketHandler.h
+++ b/c++/include/dynamixel_sdk/Protocol2PacketHandler.h
@@ -2,7 +2,7 @@
* Protocol2PacketHandler.h
*
* Created on: 2016. 1. 26.
- * Author: zerom
+ * Author: zerom, leon
*/
#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PROTOCOL2PACKETHANDLER_H_
@@ -14,7 +14,7 @@
namespace ROBOTIS
{
-class Protocol2PacketHandler : public PacketHandler
+class WINDECLSPEC Protocol2PacketHandler : public PacketHandler
{
private:
static Protocol2PacketHandler *unique_instance_;
diff --git a/c++/include/dynamixel_sdk/RobotisDef.h b/c++/include/dynamixel_sdk/RobotisDef.h
index 1fe2c61aa97b0ce76c2bdd6fbe9918ef416b2614..95ab80492b76d675fd6d3fa63f9d4728af2c1a24 100644
--- a/c++/include/dynamixel_sdk/RobotisDef.h
+++ b/c++/include/dynamixel_sdk/RobotisDef.h
@@ -2,7 +2,7 @@
* RobotisDef.h
*
* Created on: 2016. 1. 27.
- * Author: zerom
+ * Author: zerom, leon
*/
#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_ROBOTISDEF_H_
diff --git a/c++/include/dynamixel_sdk_linux/PortHandlerLinux.h b/c++/include/dynamixel_sdk_linux/PortHandlerLinux.h
index 02e4f63b8a118813e32efe65e4663012dab7225d..6ff516eeb919b0712cccbef523a298989bca4818 100644
--- a/c++/include/dynamixel_sdk_linux/PortHandlerLinux.h
+++ b/c++/include/dynamixel_sdk_linux/PortHandlerLinux.h
@@ -2,7 +2,7 @@
* PortHandlerLinux.h
*
* Created on: 2016. 1. 26.
- * Author: zerom
+ * Author: zerom, leon
*/
#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_LINUX_PORTHANDLERLINUX_H_
diff --git a/c++/src/dynamixel_sdk/GroupBulkRead.cpp b/c++/src/dynamixel_sdk/GroupBulkRead.cpp
index fef9530e8ce4db96528a68896a0cc083c79f3f3f..d8f2b6dee205b915e9de926d3cfecff9eb393be6 100644
--- a/c++/src/dynamixel_sdk/GroupBulkRead.cpp
+++ b/c++/src/dynamixel_sdk/GroupBulkRead.cpp
@@ -2,8 +2,11 @@
* GroupBulkRead.cpp
*
* Created on: 2016. 1. 28.
- * Author: zerom
+ * Author: zerom, leon
*/
+#if defined(_WIN32) || defined(_WIN64)
+#define WINDLLEXPORT
+#endif
#include <stdio.h>
#include <algorithm>
@@ -194,4 +197,3 @@ UINT32_T GroupBulkRead::GetData(UINT8_T id, UINT16_T address, UINT16_T data_leng
return 0;
}
}
-
diff --git a/c++/src/dynamixel_sdk/GroupBulkWrite.cpp b/c++/src/dynamixel_sdk/GroupBulkWrite.cpp
index 39e8eb435f592536b861575136746fd43193735a..399b32e30d88f8d59c3061d8009fd2ecf4aac82a 100644
--- a/c++/src/dynamixel_sdk/GroupBulkWrite.cpp
+++ b/c++/src/dynamixel_sdk/GroupBulkWrite.cpp
@@ -2,8 +2,11 @@
* GroupBulkWrite.cpp
*
* Created on: 2016. 2. 2.
- * Author: zerom
+ * Author: zerom, leon
*/
+#if defined(_WIN32) || defined(_WIN64)
+#define WINDLLEXPORT
+#endif
#include <algorithm>
#include "dynamixel_sdk/GroupBulkWrite.h"
diff --git a/c++/src/dynamixel_sdk/GroupSyncRead.cpp b/c++/src/dynamixel_sdk/GroupSyncRead.cpp
index 3172ae2dce0e4628c291cd003df4eef4b3ec350d..8e602e3310947c3411e290adce53f886f4c69990 100644
--- a/c++/src/dynamixel_sdk/GroupSyncRead.cpp
+++ b/c++/src/dynamixel_sdk/GroupSyncRead.cpp
@@ -2,8 +2,11 @@
* GroupSyncRead.cpp
*
* Created on: 2016. 2. 2.
- * Author: zerom
+ * Author: zerom, leon
*/
+#if defined(_WIN32) || defined(_WIN64)
+#define WINDLLEXPORT
+#endif
#include <algorithm>
#include "dynamixel_sdk/GroupSyncRead.h"
@@ -170,4 +173,3 @@ UINT32_T GroupSyncRead::GetData(UINT8_T id, UINT16_T address, UINT16_T data_leng
return 0;
}
}
-
diff --git a/c++/src/dynamixel_sdk/GroupSyncWrite.cpp b/c++/src/dynamixel_sdk/GroupSyncWrite.cpp
index 38d381b3c4f38efde3813dd81813f11a9acaa857..45d90f8e7d745c0e7fce27ed7cbd827d6b230f7e 100644
--- a/c++/src/dynamixel_sdk/GroupSyncWrite.cpp
+++ b/c++/src/dynamixel_sdk/GroupSyncWrite.cpp
@@ -2,8 +2,11 @@
* GroupSyncWrite.cpp
*
* Created on: 2016. 1. 28.
- * Author: zerom
+ * Author: zerom, leon
*/
+#if defined(_WIN32) || defined(_WIN64)
+#define WINDLLEXPORT
+#endif
#include <algorithm>
#include "dynamixel_sdk/GroupSyncWrite.h"
diff --git a/c++/src/dynamixel_sdk/PacketHandler.cpp b/c++/src/dynamixel_sdk/PacketHandler.cpp
index 57579b039b887402b93bf917ba2636ac6efd8b57..8ad1c48f34f1a9687fae5799731cf77d38c8daed 100644
--- a/c++/src/dynamixel_sdk/PacketHandler.cpp
+++ b/c++/src/dynamixel_sdk/PacketHandler.cpp
@@ -2,8 +2,11 @@
* PacketHandler.cpp
*
* Created on: 2016. 1. 26.
- * Author: zerom
+ * Author: zerom, leon
*/
+#if defined(_WIN32) || defined(_WIN64)
+#define WINDLLEXPORT
+#endif
#include "dynamixel_sdk/PacketHandler.h"
#include "dynamixel_sdk/Protocol1PacketHandler.h"
diff --git a/c++/src/dynamixel_sdk/PortHandler.cpp b/c++/src/dynamixel_sdk/PortHandler.cpp
index 3bce1bfd1a63ab80de4e4eaf777bf24356cea914..ff4355c0aaf2a2d210d35b5231a592d929bace8f 100644
--- a/c++/src/dynamixel_sdk/PortHandler.cpp
+++ b/c++/src/dynamixel_sdk/PortHandler.cpp
@@ -2,8 +2,11 @@
* PortHandler.cpp
*
* Created on: 2016. 2. 5.
- * Author: zerom
+ * Author: zerom, leon
*/
+#if defined(_WIN32) || defined(_WIN64)
+#define WINDLLEXPORT
+#endif
#include "dynamixel_sdk/PortHandler.h"
@@ -27,5 +30,3 @@ PortHandler *PortHandler::GetPortHandler(const char *port_name)
return (PortHandler *)(new PortHandlerWindows(port_name));
#endif
}
-
-
diff --git a/c++/src/dynamixel_sdk/Protocol1PacketHandler.cpp b/c++/src/dynamixel_sdk/Protocol1PacketHandler.cpp
index 630afe09b66659349129e8b743cb96f8d5dc4d72..4004f457d3c88322214977aab8cbffcfbe62a65c 100644
--- a/c++/src/dynamixel_sdk/Protocol1PacketHandler.cpp
+++ b/c++/src/dynamixel_sdk/Protocol1PacketHandler.cpp
@@ -2,8 +2,11 @@
* Protocol1PacketHandler.cpp
*
* Created on: 2016. 1. 26.
- * Author: zerom
+ * Author: zerom, leon
*/
+#if defined(_WIN32) || defined(_WIN64)
+#define WINDLLEXPORT
+#endif
#include <string.h>
#include <stdlib.h>
@@ -660,4 +663,3 @@ int Protocol1PacketHandler::BulkWriteTxOnly(PortHandler *port, UINT8_T *param, U
{
return COMM_NOT_AVAILABLE;
}
-
diff --git a/c++/src/dynamixel_sdk/Protocol2PacketHandler.cpp b/c++/src/dynamixel_sdk/Protocol2PacketHandler.cpp
index 39cba41f197e2466eae41e70baeff8986e13d78a..f835eea1212273eef415387f0530fdcfbd469959 100644
--- a/c++/src/dynamixel_sdk/Protocol2PacketHandler.cpp
+++ b/c++/src/dynamixel_sdk/Protocol2PacketHandler.cpp
@@ -2,9 +2,13 @@
* Protocol2PacketHandler.cpp
*
* Created on: 2016. 1. 26.
- * Author: zerom
+ * Author: zerom, leon
*/
+#if defined(_WIN32) || defined(_WIN64)
+#define WINDLLEXPORT
+#endif
+
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
diff --git a/c++/src/dynamixel_sdk_linux/PortHandlerLinux.cpp b/c++/src/dynamixel_sdk_linux/PortHandlerLinux.cpp
index 8fb8b02aef9d2dcd34d78584ac4a6459e53de7a6..96c3f75c0ea3d661d1ee557780a2875c8f6a71fe 100644
--- a/c++/src/dynamixel_sdk_linux/PortHandlerLinux.cpp
+++ b/c++/src/dynamixel_sdk_linux/PortHandlerLinux.cpp
@@ -2,7 +2,7 @@
* PortHandlerLinux.cpp
*
* Created on: 2016. 1. 26.
- * Author: zerom
+ * Author: zerom, leon
*/
#include <stdio.h>
diff --git a/manual/DynamixelSDK_Manual_EN_160308.docx b/manual/DynamixelSDK_Manual_EN_160308.docx
deleted file mode 100644
index b3222761c5a66592d625b67de79c912f243e3555..0000000000000000000000000000000000000000
Binary files a/manual/DynamixelSDK_Manual_EN_160308.docx and /dev/null differ
diff --git a/manual/DynamixelSDK_ODROID_EN_160308.pptx b/manual/DynamixelSDK_ODROID_EN_160308.pptx
deleted file mode 100644
index 46e3adad59840b10fb6d11014e1b2a419f57677e..0000000000000000000000000000000000000000
Binary files a/manual/DynamixelSDK_ODROID_EN_160308.pptx and /dev/null differ