void ax12Dump(DYNAMIXEL_AX12* servo){
uint16_t status = ax12GetInfo(servo);
if(status == 0){
rprintf("AX12 ID%u: Pos:%d, Speed:%d, Load:%d, Volts:%u.%c, Temp:%uC, Moving:%c\n",
(uint16_t)servo->id,
servo->info.position,
servo->info.speed,
servo->info.load,
(uint16_t)servo->info.voltage / 10, '0' + servo->info.voltage % 10,
(uint16_t)servo->info.temperature,
(servo->info.moving) ? 'Y' : 'N');
}else{
rprintf("AX12 ID%u: Status: %u\n",(uint16_t)servo->id,status);
}
}
void ax12TempAll(const DYNAMIXEL_AX12_DRIVER* driver){
// PRINTF(f,"AX12 ID Speed Load Volts Temp(C) Moving\r\n");
//rprintf("AX12 ID Speed Load Volts Temp(C) Moving\r\n");
for(int i=0; i<driver->num_servos; i++){
DYNAMIXEL_AX12* servo = (DYNAMIXEL_AX12*)pgm_read_word(&driver->servos[i]);
uint16_t status = ax12GetInfo(servo);
if(status == 0){ //Servo is good to go
// PRINTF(f,"%7u %6d %5d %2u.%c %5u %c\r\n",
// rprintf("S%7uT%5uK%c\r\n",
rprintf("S(%u ) T(%u ) ",
(uint16_t)servo->id,
(uint16_t)servo->info.temperature //,
// (servo->info.moving) ? 'Y' : 'N'
);
// }else{
// PRINTF(f,"%7u Status: %u\r\n",(uint16_t)servo->id,status);
// rprintf("%7u Status: %u\r\n",(uint16_t)servo->id,status);
}
}
}
