int main()
{
printf( "\n===== Read/Write Tutorial for DARwIn =====\n\n");
//////////////////// Framework Initialize ////////////////////////////
// LinuxCM730 linux_cm730("/dev/ttyUSB0");
// CM730 cm730(&linux_cm730);
if(cm730.Connect() == false)
{
printf("Fail to connect CM-730!\n");
return 0;
}
/////////////////////////////////////////////////////////////////////
cm730.WriteWord(JointData::ID_R_SHOULDER_PITCH, MX28::P_TORQUE_ENABLE, 0, 0);
cm730.WriteWord(JointData::ID_R_SHOULDER_ROLL, MX28::P_TORQUE_ENABLE, 0, 0);
cm730.WriteWord(JointData::ID_R_ELBOW, MX28::P_TORQUE_ENABLE, 0, 0);
cm730.WriteWord(JointData::ID_L_SHOULDER_PITCH, MX28::P_TORQUE_ENABLE, 0, 0);
cm730.WriteWord(JointData::ID_L_SHOULDER_ROLL, MX28::P_TORQUE_ENABLE, 0, 0);
cm730.WriteWord(JointData::ID_L_ELBOW, MX28::P_TORQUE_ENABLE, 0, 0);
cm730.WriteWord(JointData::ID_R_HIP_ROLL, MX28::P_TORQUE_ENABLE, 0, 0);
cm730.WriteWord(JointData::ID_L_HIP_ROLL, MX28::P_TORQUE_ENABLE, 0, 0);
int i;
// Read current positions of upper body
int body[8] = {0,0,0,0,0,0,0,0};
getCurrentRightArmPos(body);
getCurrentLeftArmPos(body + 3);
getCurrentPitchPos(body + 6);
usleep(SIM_TIME_U);
gotoInitPos(body,100);
/*
for (i = 0; i<6; i++)
printf("ID %d - %d\n", i, arms[i]);
int len = (sizeof(arms) / sizeof(*arms));
printf("%d\n", len);
*/
getchar();
hoseHandling();
usleep(20000);
}
int main()
{
signal(SIGABRT, &sighandler);
signal(SIGTERM, &sighandler);
signal(SIGQUIT, &sighandler);
signal(SIGINT, &sighandler);
char input[MAXNUM_INPUTCHAR];
char *token;
int input_len;
char cmd[80];
char param[20][30];
int num_param;
printf( "\n[Dynamixel Monitor for DARwIn %s]\n", PROGRAM_VERSION);
if(cm730.Connect() == true)
{
while(1)
{
gets(input);
fflush(stdin);
input_len = strlen(input);
if(input_len == 0)
continue;
token = strtok( input, " " );
if(token == 0)
continue;
strcpy( cmd, token );
token = strtok( 0, " " );
num_param = 0;
while(token != 0)
{
strcpy( param[num_param++], token );
token = strtok( 0, " " );
}
if(strcmp(cmd, "d") == 0)
compass_Gyro(&cm730, gID);
}
}
printf("\nTerminated DXL Manager.\n");
return 0;
}
int main()
{
signal(SIGABRT, &sighandler);
signal(SIGTERM, &sighandler);
signal(SIGQUIT, &sighandler);
signal(SIGINT, &sighandler);
char input[MAXNUM_INPUTCHAR];
char *token;
int input_len;
char cmd[80];
char param[20][30];
int num_param;
int iparam[20];
printf( "\n[Dynamixel Monitor for DARwIn %s]\n", PROGRAM_VERSION);
if(cm730.Connect() == true)
{
Scan(&cm730);
while(1)
{
Prompt(gID);
gets(input);
fflush(stdin);
input_len = strlen(input);
if(input_len == 0)
continue;
token = strtok( input, " " );
if(token == 0)
continue;
strcpy( cmd, token );
token = strtok( 0, " " );
num_param = 0;
while(token != 0)
{
strcpy( param[num_param++], token );
token = strtok( 0, " " );
}
if(strcmp(cmd, "exit") == 0)
break;
else if(strcmp(cmd, "scan") == 0)
Scan(&cm730);
else if(strcmp(cmd, "help") == 0)
Help();
else if(strcmp(cmd, "id") == 0)
{
if(num_param != 1)
{
printf(" Invalid parameter!\n");
continue;
}
iparam[0] = atoi(param[0]);
if(cm730.Ping(iparam[0], 0) == CM730::SUCCESS)
{
gID = iparam[0];
}
else
{
printf(" Invalid ID(%d)!\n", iparam[0]);
continue;
}
}
else if(strcmp(cmd, "on") == 0)
{
if(num_param == 0)
{
cm730.WriteByte(gID, MX28::P_TORQUE_ENABLE, 1, 0);
if(gID == CM730::ID_CM)
printf(" Dynamixel power on\n");
}
else if(num_param == 1)
{
if(strcmp(param[0], "all") == 0)
{
for(int i=JointData::ID_R_SHOULDER_PITCH; i<JointData::NUMBER_OF_JOINTS; i++)
cm730.WriteByte(i, MX28::P_TORQUE_ENABLE, 1, 0);
}
else
{
printf(" Invalid parameter!\n");
continue;
}
}
else
{
printf(" Invalid parameter!\n");
continue;
}
}
else if(strcmp(cmd, "off") == 0)
{
if(num_param == 0)
{
cm730.WriteByte(gID, MX28::P_TORQUE_ENABLE, 0, 0);
if(gID == CM730::ID_CM)
printf(" Dynamixel power off\n");
}
else if(num_param == 1)
{
if(strcmp(param[0], "all") == 0)
{
for(int i=JointData::ID_R_SHOULDER_PITCH; i<JointData::NUMBER_OF_JOINTS; i++)
cm730.WriteByte(i, MX28::P_TORQUE_ENABLE, 0, 0);
}
else
{
printf(" Invalid parameter!\n");
continue;
}
}
else
{
printf(" Invalid parameter!\n");
continue;
}
}
else if(strcmp(cmd, "d") == 0)
Dump(&cm730, gID);
else if(strcmp(cmd, "reset") == 0)
{
int firm_ver = 0;
if(cm730.ReadByte(JointData::ID_HEAD_PAN, MX28::P_VERSION, &firm_ver, 0) != CM730::SUCCESS)
{
fprintf(stderr, "Can't read firmware version from Dynamixel ID %d!! \n\n", JointData::ID_HEAD_PAN);
exit(0);
}
if(0 < firm_ver && firm_ver < 27)
{
fprintf(stderr, "\n MX-28's firmware is not support 4096 resolution!! \n");
fprintf(stderr, " Upgrade MX-28's firmware to version 27(0x1B) or higher.\n\n");
continue;
}
if(num_param == 0)
Reset(&cm730, gID);
else if(num_param == 1)
{
if(strcmp(param[0], "all") == 0)
{
for(int i=JointData::ID_R_SHOULDER_PITCH; i<JointData::NUMBER_OF_JOINTS; i++)
Reset(&cm730, i);
if(cm730.Ping(FSR::ID_R_FSR, 0) == CM730::SUCCESS)
Reset(&cm730, FSR::ID_R_FSR);
if(cm730.Ping(FSR::ID_L_FSR, 0) == CM730::SUCCESS)
Reset(&cm730, FSR::ID_L_FSR);
Reset(&cm730, CM730::ID_CM);
}
else
{
printf(" Invalid parameter!\n");
continue;
}
}
else
{
printf(" Invalid parameter!\n");
continue;
}
}
else if(strcmp(cmd, "wr") == 0)
{
if(num_param == 2)
Write(&cm730, gID, atoi(param[0]), atoi(param[1]));
else
{
printf(" Invalid parameter!\n");
continue;
}
}
else
printf(" Bad command! please input 'help'.\n");
}
}
else
printf("Failed to connect CM-730!");
printf("\nTerminated DXL Manager.\n");
return 0;
}
