C++ (Cpp) Dynamixel::ReadByte Examples

Example #1

File: monitor.cpp Project: Yunaik/thu

void Read(int id, int addr, int len)
{
	int result = COMM_TXFAIL, error = 0;
	int ivalue = 0;
	long lvalue = 0;

	if(len == 1)
		result = DXL.ReadByte(id, addr, &ivalue, &error);
	else if(len == 2)
		result = DXL.ReadWord(id, addr, &ivalue, &error);
	else if(len == 4)
		result = DXL.ReadDWord(id, addr, &lvalue, &error);

	if(result != COMM_RXSUCCESS)
	{
		fprintf(stderr, "\n Fail to read! (result : %d) \n\n", result);
		return;
	}

	if(error != 0)
		PrintErrorCode(error);

	if(len == 1)
		fprintf(stderr, "\n READ VALUE : %d \n\n", ivalue);
	else if(len == 2)
		fprintf(stderr, "\n READ VALUE : (UNSIGNED) %u , (SIGNED) %d \n\n", ivalue, ivalue);
	else
		fprintf(stderr, "\n READ VALUE : (UNSIGNED) %lu , (SIGNED) %d \n\n", lvalue, lvalue);
}

Example #2

File: monitor.cpp Project: Yunaik/thu

void Refresh(int id, int addr, int len)
{
	int result = COMM_TXFAIL, error = 0;
	int ivalue = 0;
	long lvalue = 0;

	fprintf(stderr, "\n [ESC] : Quit monitoring \n\n");
	while(1)
	{
		if(len == 1)
			result = DXL.ReadByte(id, addr, &ivalue, &error);
		else if(len == 2)
			result = DXL.ReadWord(id, addr, &ivalue, &error);
		else if(len == 4)
			result = DXL.ReadDWord(id, addr, &lvalue, &error);

		if(result != COMM_RXSUCCESS)
		{
			//fprintf(stderr, "\n Fail to read! (result : %d) \n\n", result);
			continue;
		}

		if(error != 0)
			PrintErrorCode(error);

		if(len == 1)
			fprintf(stderr, " READ VALUE : %.3d [0x%.2X] \r", ivalue, ivalue);
		else if(len == 2)
			fprintf(stderr, " READ VALUE : %.5d [0x%.2X 0x%.2X] \r", ivalue, DXL_LOBYTE(ivalue), DXL_HIBYTE(ivalue));
		else
			fprintf(stderr, " READ VALUE : %.10ld [0x%.2X 0x%.2X 0x%.2X 0x%.2X] \r",
					lvalue, DXL_LOBYTE(DXL_LOWORD(lvalue)), DXL_HIBYTE(DXL_LOWORD(lvalue)), DXL_LOBYTE(DXL_HIWORD(lvalue)), DXL_HIBYTE(DXL_HIWORD(lvalue)));

		if(kbhit())
		{
			char c = _getch();
			if(c == 0x1b)
				break;
		}
	}
	fprintf(stderr, "\n\n");
}