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Commit 7bc01fbb authored by Leon's avatar Leon Committed by GitHub
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Update dxl_monitor.cpp

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c++/example/dxl_monitor/dxl_monitor.cpp
+ 23
− 23
View file @ 7bc01fbb
......@@ -86,7 +86,7 @@ int kbhit(void)
#endif
}
void Usage(char *progname)
void usage(char *progname)
{
printf("-----------------------------------------------------------------------\n");
printf("Usage: %s\n");
......@@ -95,7 +95,7 @@ void Usage(char *progname)
printf("-----------------------------------------------------------------------\n");
}
void Help()
void help()
{
printf("\n");
printf(" .----------------------------.\n");
......@@ -139,7 +139,7 @@ void Help()
printf("\n");
}
void Scan(dynamixel::PortHandler *portHandler, dynamixel::PacketHandler *packetHandler1, dynamixel::PacketHandler *packetHandler2)
void scan(dynamixel::PortHandler *portHandler, dynamixel::PacketHandler *packetHandler1, dynamixel::PacketHandler *packetHandler2)
{
uint8_t dxl_error;
uint16_t dxl_model_num;
......@@ -187,7 +187,7 @@ void Scan(dynamixel::PortHandler *portHandler, dynamixel::PacketHandler *packetH
fprintf(stderr, "\n\n");
}
void Write(dynamixel::PortHandler *portHandler, dynamixel::PacketHandler *packetHandler, uint8_t id, uint16_t addr, uint16_t length, uint32_t value)
void write(dynamixel::PortHandler *portHandler, dynamixel::PacketHandler *packetHandler, uint8_t id, uint16_t addr, uint16_t length, uint32_t value)
{
uint8_t dxl_error = 0;
int dxl_comm_result = COMM_TX_FAIL;
......@@ -217,7 +217,7 @@ void Write(dynamixel::PortHandler *portHandler, dynamixel::PacketHandler *packet
}
}
void Read(dynamixel::PortHandler *portHandler, dynamixel::PacketHandler *packetHandler, uint8_t id, uint16_t addr, uint16_t length)
void read(dynamixel::PortHandler *portHandler, dynamixel::PacketHandler *packetHandler, uint8_t id, uint16_t addr, uint16_t length)
{
uint8_t dxl_error = 0;
int dxl_comm_result = COMM_TX_FAIL;
......@@ -264,7 +264,7 @@ void Read(dynamixel::PortHandler *portHandler, dynamixel::PacketHandler *packetH
}
}
void Dump(dynamixel::PortHandler *portHandler, dynamixel::PacketHandler *packetHandler, uint8_t id, uint16_t addr, uint16_t len)
void dump(dynamixel::PortHandler *portHandler, dynamixel::PacketHandler *packetHandler, uint8_t id, uint16_t addr, uint16_t len)
{
uint8_t dxl_error = 0;
int dxl_comm_result = COMM_TX_FAIL;
......@@ -328,7 +328,7 @@ int main(int argc, char *argv[])
// unrecognized option
if (c == '?') {
Usage(argv[0]);
usage(argv[0]);
return 0;
}
......@@ -337,7 +337,7 @@ int main(int argc, char *argv[])
// h, help
case 0:
case 1:
Usage(argv[0]);
usage(argv[0]);
return 0;
break;
......@@ -355,7 +355,7 @@ int main(int argc, char *argv[])
break;
default:
Usage(argv[0]);
usage(argv[0]);
return 0;
}
}
......@@ -413,7 +413,7 @@ int main(int argc, char *argv[])
if (strcmp(cmd, "help") == 0 || strcmp(cmd, "h") == 0 || strcmp(cmd, "?") == 0)
{
Help();
help();
}
else if (strcmp(cmd, "baud") == 0)
{
......@@ -437,7 +437,7 @@ int main(int argc, char *argv[])
}
else if (strcmp(cmd, "scan") == 0)
{
Scan(portHandler, packetHandler1, packetHandler2);
scan(portHandler, packetHandler1, packetHandler2);
}
else if (strcmp(cmd, "ping") == 0)
{
......@@ -508,7 +508,7 @@ int main(int argc, char *argv[])
{
if (num_param == 3)
{
Write(portHandler, packetHandler1, atoi(param[0]), atoi(param[1]), 1, atoi(param[2]));
write(portHandler, packetHandler1, atoi(param[0]), atoi(param[1]), 1, atoi(param[2]));
}
else
{
......@@ -519,7 +519,7 @@ int main(int argc, char *argv[])
{
if (num_param == 3)
{
Write(portHandler, packetHandler2, atoi(param[0]), atoi(param[1]), 1, atoi(param[2]));
write(portHandler, packetHandler2, atoi(param[0]), atoi(param[1]), 1, atoi(param[2]));
}
else
{
......@@ -530,7 +530,7 @@ int main(int argc, char *argv[])
{
if (num_param == 3)
{
Write(portHandler, packetHandler1, atoi(param[0]), atoi(param[1]), 2, atoi(param[2]));
write(portHandler, packetHandler1, atoi(param[0]), atoi(param[1]), 2, atoi(param[2]));
}
else
{
......@@ -541,7 +541,7 @@ int main(int argc, char *argv[])
{
if (num_param == 3)
{
Write(portHandler, packetHandler2, atoi(param[0]), atoi(param[1]), 2, atoi(param[2]));
write(portHandler, packetHandler2, atoi(param[0]), atoi(param[1]), 2, atoi(param[2]));
}
else
{
......@@ -552,7 +552,7 @@ int main(int argc, char *argv[])
{
if (num_param == 3)
{
Write(portHandler, packetHandler2, atoi(param[0]), atoi(param[1]), 4, atoi(param[2]));
write(portHandler, packetHandler2, atoi(param[0]), atoi(param[1]), 4, atoi(param[2]));
}
else
{
......@@ -563,7 +563,7 @@ int main(int argc, char *argv[])
{
if (num_param == 2)
{
Read(portHandler, packetHandler1, atoi(param[0]), atoi(param[1]), 1);
read(portHandler, packetHandler1, atoi(param[0]), atoi(param[1]), 1);
}
else
{
......@@ -574,7 +574,7 @@ int main(int argc, char *argv[])
{
if (num_param == 2)
{
Read(portHandler, packetHandler2, atoi(param[0]), atoi(param[1]), 1);
read(portHandler, packetHandler2, atoi(param[0]), atoi(param[1]), 1);
}
else
{
......@@ -585,7 +585,7 @@ int main(int argc, char *argv[])
{
if (num_param == 2)
{
Read(portHandler, packetHandler1, atoi(param[0]), atoi(param[1]), 2);
read(portHandler, packetHandler1, atoi(param[0]), atoi(param[1]), 2);
}
else
{
......@@ -596,7 +596,7 @@ int main(int argc, char *argv[])
{
if (num_param == 2)
{
Read(portHandler, packetHandler2, atoi(param[0]), atoi(param[1]), 2);
read(portHandler, packetHandler2, atoi(param[0]), atoi(param[1]), 2);
}
else
{
......@@ -607,7 +607,7 @@ int main(int argc, char *argv[])
{
if (num_param == 2)
{
Read(portHandler, packetHandler2, atoi(param[0]), atoi(param[1]), 4);
read(portHandler, packetHandler2, atoi(param[0]), atoi(param[1]), 4);
}
else
{
......@@ -618,7 +618,7 @@ int main(int argc, char *argv[])
{
if (num_param == 3)
{
Dump(portHandler, packetHandler1, atoi(param[0]), atoi(param[1]), atoi(param[2]));
dump(portHandler, packetHandler1, atoi(param[0]), atoi(param[1]), atoi(param[2]));
}
else{
fprintf(stderr, " Invalid parameters! \n");}
......@@ -627,7 +627,7 @@ int main(int argc, char *argv[])
{
if (num_param == 3)
{
Dump(portHandler, packetHandler2, atoi(param[0]), atoi(param[1]), atoi(param[2]));
dump(portHandler, packetHandler2, atoi(param[0]), atoi(param[1]), atoi(param[2]));
}
else
{
......
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