C++ (Cpp) TxDWord16 Examples

Example #1

File: gaits.c Project: dudanian/robosnake

void test() {

	bMoving = dxl_read_byte( id, MOVING );
	CommStatus = dxl_get_result();
	if( CommStatus == COMM_RXSUCCESS )
	{
		if( bMoving == 0 )
		{
			// Change goal position
			if( INDEX == 0 )
				INDEX = 1;
			else
				INDEX = 0;

			// Write goal position
			dxl_write_word( id, GOAL_POSITION_L, GoalPos[INDEX] );
		}

		PrintErrorCode();

		// Read present position
		wPresentPos = dxl_read_word( id, PRESENT_POSITION_L );
		TxDWord16(GoalPos[INDEX]);
		TxDString("   ");
		TxDWord16(wPresentPos);
		TxDByte_PC('\r');
		TxDByte_PC('\n');
	}
	else
		PrintCommStatus(CommStatus);
}

Example #2

File: main.c Project: guillep19/frob

int main(void)
{
    /* System Clocks Configuration */
	RCC_Configuration();

	/* NVIC configuration */
	NVIC_Configuration();

	/* GPIO configuration */
	GPIO_Configuration();

	SysTick_Configuration();

	Timer_Configuration();

	dxl_initialize( 0, 1 );
	USART_Configuration(USART_PC, Baudrate_PC);

	while(1)
	{
		bMoving = dxl_read_byte( id, P_MOVING );
		CommStatus = dxl_get_result();
		if( CommStatus == COMM_RXSUCCESS )
		{
			if( bMoving == 0 )
			{
				// Change goal position
				if( INDEX == 0 )
					INDEX = 1;
				else
					INDEX = 0;

				// Write goal position
				dxl_write_word( id, P_GOAL_POSITION_L, GoalPos[INDEX] );
			}

			PrintErrorCode();

			// Read present position
			wPresentPos = dxl_read_word( id, P_PRESENT_POSITION_L );
			TxDWord16(GoalPos[INDEX]);
			TxDString("   ");
			TxDWord16(wPresentPos);
			TxDByte_PC('\r');
			TxDByte_PC('\n');
		}
		else
			PrintCommStatus(CommStatus);

	}
	return 0;
}