int main()
{
int baudnum = 1;
int deviceIndex = 0;
int PresentPos;
int CommStatus;
printf( "\n\nRead/Write example for Linux\n\n" );
///////// Open USB2Dynamixel ////////////
if( dxl_initialize(deviceIndex, baudnum) == 0 )
{
printf( "Failed to open USB2Dynamixel!\n" );
printf( "Press Enter key to terminate...\n" );
getchar();
return 0;
}
else
printf( "Succeed to open USB2Dynamixel!\n" );
dxl_write_byte( DEFAULT_ID, P_TORQUE_ENABLE, 0 );
while(1)
{
printf( "Press Enter key to continue!(press ESC and Enter to quit)\n" );
if(getchar() == 0x1b)
break;
do
{
// Read present position
PresentPos = dxl_read_word( DEFAULT_ID, P_PRESENT_POSITION_L );
CommStatus = dxl_get_result();
if( CommStatus == COMM_RXSUCCESS )
{
printf( "Position: %d\n", PresentPos );
PrintErrorCode();
}
else
{
PrintCommStatus(CommStatus);
break;
}
} while(1);
}
// Close device
dxl_terminate();
printf( "Press Enter key to terminate...\n" );
getchar();
return 0;
}
int main()
{
int baudnum = 34;
int GoalPos[2] = {0, 7095};
//int GoalPos[2] = {0, 4095}; // for Ex series
int index = 1;
int deviceIndex = 0;
int Moving, PresentPos;
int CommStatus;
printf( "\n\nRead/Write example for Linux\n\n" );
///////// Open USB2Dynamixel ////////////
if( dxl_initialize(deviceIndex, baudnum) == 0 )
{
printf( "Failed to open USB2Dynamixel!\n" );
printf( "Press Enter key to terminate...\n" );
getchar();
return 0;
}
else
printf( "Succeed to open USB2Dynamixel!\n" );
while(1)
{
printf( "Press Enter key to continue!(press ESC and Enter to quit)\n" );
if(getchar() == 0x1b)
break;
// Write goal position
dxl_write_word( DEFAULT_ID, P_GOAL_POSITION_L, GoalPos[index] );
do
{
// Read present position
PresentPos = dxl_read_word( DEFAULT_ID, P_PRESENT_POSITION_L );
CommStatus = dxl_get_result();
if( CommStatus == COMM_RXSUCCESS )
{
printf( "%d %d\n",GoalPos[index], PresentPos );
PrintErrorCode();
}
else
{
PrintCommStatus(CommStatus);
break;
}
// Check moving done
Moving = dxl_read_byte( DEFAULT_ID, P_MOVING );
CommStatus = dxl_get_result();
if( CommStatus == COMM_RXSUCCESS )
{
if( Moving == 0 )
{
// Change goal position
if( index == 0 )
index = 1;
else
index = 0;
}
PrintErrorCode();
}
else
{
PrintCommStatus(CommStatus);
break;
}
}while(Moving == 1);
}
// Close device
dxl_terminate();
printf( "Press Enter key to terminate...\n" );
getchar();
return 0;
}
void Dynamixel::end(void){
dxl_terminate();
}
void close_USB2Dyn(){
dxl_terminate();
}
int main()
{
int i;
int baudnum = DEFAULT_BAUDNUM;
int GoalPos[2] = {0, 1023};
//int GoalPos[2] = {0, 4095}; // for Ex series
int index = 0;
int deviceIndex = 0;
int Moving, PresentPos;
int CommStatus;
system("/home/humanoid/Documents/visao/bin/Debug/visao");
system("echo 123456 | sudo -S chmod 777 /dev/ttyUSB*");//USB
//system("./home/humanoidfei/Documents/visao/bin/Debug/visao");
//id_t PID = getpid();
char string[50];
sprintf(string,"echo 123456 | sudo -S renice -20 -p %d", getpid());
system(string);
// char command[50];
// sprintf(command, "echo 123456 | sudo -S renice 0 -p %d", getProcIdByName("pulseaudio"));
// system(command);
//int PID = popen("pidof pulseaudio","r");
//system("echo 123456 | sudo -S renice 0 1533");
//setpriority(PRIO_PROCESS, getpid(), -20);
printf( "\n\nRx-28 example for Linux\n\n" );
///////// Open USB2Dynamixel ////////////
if( dxl_initialize(deviceIndex, baudnum) == 0 )
{
printf( "Failed to open USB2Dynamixel!\n" );
printf( "Press Enter key to terminate...\n" );
getchar();
return 0;
}
else
printf( "Succeed to open USB2Dynamixel!\n" );
while(1)
{
printf( "Press Enter key to continue!(press ESC and Enter to quit)\n" );
if(getchar() == 0x1b)
break;
// // Write goal position
for(i = 1;i<21;i++)
dxl_write_word( i, P_GOAL_POSITION_L, GoalPos[index] );
dxl_write_word( 3, 32, 0);//usleep(1000000);
if( index == 0 )
index = 1;
else
index = 0;
/* do
{
// Read present position
//for(i=1;i<11;i++)
PresentPos = dxl_read_word( i, P_PRESENT_POSITION_L ); //usleep(1000000);
CommStatus = dxl_get_result();
if( CommStatus == COMM_RXSUCCESS )
{
printf( "%d %d\n",GoalPos[index], PresentPos );
PrintErrorCode();
}
else
{
PrintCommStatus(CommStatus);
break;
}
// Check moving done
//for(i=1;i<11;i++)
Moving = dxl_read_byte( i, P_MOVING );
CommStatus = dxl_get_result();
if( CommStatus == COMM_RXSUCCESS )
{
if( Moving == 0 )
{
// Change goal position
if( index == 0 )
index = 1;
else
index = 0;
}
PrintErrorCode();
}
else
{
PrintCommStatus(CommStatus);
break;
}
}while(Moving == 1);*/
}
//}
// Close device
dxl_terminate();
printf( "Press Enter key to terminate...\n" );
getchar();
return 0;
}
Dxl::~Dxl()
{
dxl_terminate();
}
void signal_callback_handler(int signum)
{
printf("Caught signal %d\n", signum);
dxl_terminate();
exit(signum);
}
int main(int argc, char **argv)
{
std::string dash_m = "-m";
std::string dash_tty = "-tty";
std::string dash_baud = "-baud";
if (argc<2) {
ROS_INFO("using default motor_id %d, baud code %d, via /dev/ttyUSB%d",motor_id,baudnum,ttynum);
ROS_INFO("may run with command args, e.g.: -m 2 -tty 1 for motor_id=2 on /dev/ttyUSB1");
}
else {
std::vector <std::string> sources;
for (int i = 1; i < argc; ++i) { // argv[0] is the path to the program, we want from argv[1] onwards
sources.push_back(argv[i]);
}
for (int i=0;i<argc-2;i++) { // if have a -m or -tty, MUST have at least 2 args
std::cout<<sources[i]<<std::endl;
if (sources[i]==dash_m) {
std::cout<<"found dash_m"<<std::endl;
motor_id = atoi(sources[i+1].c_str());
}
if (sources[i]==dash_tty) {
std::cout<<"found dash_tty"<<std::endl;
ttynum = atoi(sources[i+1].c_str());
}
if (sources[i]==dash_baud) {
std::cout<<"found dash_baud"<<std::endl;
baudnum = atoi(sources[i+1].c_str());
}
}
ROS_INFO("using motor_id %d at baud code %d via /dev/ttyUSB%d",motor_id,baudnum,ttynum);
}
char node_name[50];
char in_topic_name[50];
char out_topic_name[50];
sprintf(node_name,"dynamixel_motor%d",motor_id);
ROS_INFO("node name: %s",node_name);
sprintf(in_topic_name,"dynamixel_motor%d_cmd",motor_id);
ROS_INFO("input command topic: %s",in_topic_name);
sprintf(out_topic_name,"dynamixel_motor%d_ang",motor_id);
ROS_INFO("output topic: %s",out_topic_name);
char in_topic_toggle[50];
sprintf(in_topic_toggle,"dynamixel_motor%d_mode",motor_id);
ros::init(argc,argv,node_name); //name this node
ros::NodeHandle n; // need this to establish communications with our new node
ros::Publisher pub_jnt = n.advertise<std_msgs::Int16>(out_topic_name, 1);
double dt= 0.01; // 100Hz
ROS_INFO("attempting to open /dev/ttyUSB%d",ttynum);
bool open_success = open_dxl(ttynum,baudnum);
if (!open_success) {
ROS_WARN("could not open /dev/ttyUSB%d; check permissions?",ttynum);
return 0;
}
ROS_INFO("attempting communication with motor_id %d at baudrate code %d",motor_id,baudnum);
ros::Subscriber subscriber = n.subscribe(in_topic_name,1,dynamixelCB);
ros::Subscriber toggle_subscriber = n.subscribe(in_topic_toggle,1,toggleCB);
std_msgs::Int16 motor_ang_msg;
short int sensed_motor_ang=0;
torque_control_toggle(motor_id,0); // set motor to torque mode during initialization
// set position/torque limits during initialization
set_torque_max(motor_id,torque_max);
set_dynamixel_CW_limit(motor_id,CW_limit);
set_dynamixel_CCW_limit(motor_id,CCW_limit);
while(ros::ok()) {
sensed_motor_ang = read_position(motor_id);
if (sensed_motor_ang>4096) {
ROS_WARN("read error from Dynamixel: ang value %d at cmd %d",sensed_motor_ang-4096,g_goal_cmd);
}
motor_ang_msg.data = sensed_motor_ang;
pub_jnt.publish(motor_ang_msg);
ros::Duration(dt).sleep();
ros::spinOnce();
}
dxl_terminate();
ROS_INFO("goodbye");
return 0; // should never get here, unless roscore dies
}
void dynamixelApi_terminate() {
dxl_terminate();
}
int main()
{
int id[NUM_ACTUATOR];
int baudnum = 1;
int deviceIndex = 0;
float phase[NUM_ACTUATOR];
float theta = 0;
int AmpPos = 512;
//int AmpPos = 2048; // for EX series
int GoalPos;
int i;
int CommStatus;
printf( "\n\nSyncWrite example for Linux\n\n" );
// Initialize id and phase
for( i=0; i<NUM_ACTUATOR; i++ )
{
id[i] = i+1;
phase[i] = 2*PI * (float)i / (float)NUM_ACTUATOR;
}
///////// Open USB2Dynamixel ////////////
if( dxl_initialize(deviceIndex, baudnum) == 0 )
{
printf( "Failed to open USB2Dynamixel!\n" );
printf( "Press Enter key to terminate...\n" );
getchar();
return 0;
}
else
printf( "Succeed to open USB2Dynamixel!\n" );
// Set goal speed
dxl_write_word( BROADCAST_ID, P_GOAL_SPEED_L, 0 );
// Set goal position
dxl_write_word( BROADCAST_ID, P_GOAL_POSITION_L, AmpPos );
while(1)
{
printf( "Press Enter key to continue!(press ESC and Enter to quit)\n" );
if(getchar() == 0x1b)
break;
theta = 0;
do
{
// Make syncwrite packet
dxl_set_txpacket_id(BROADCAST_ID);
dxl_set_txpacket_instruction(INST_SYNC_WRITE);
dxl_set_txpacket_parameter(0, P_GOAL_POSITION_L);
dxl_set_txpacket_parameter(1, 2);
for( i=0; i<NUM_ACTUATOR; i++ )
{
dxl_set_txpacket_parameter(2+3*i, id[i]);
GoalPos = (int)((sin(theta+phase[i]) + 1.0) * (double)AmpPos);
printf( "%d:%d ", id[i], GoalPos );
dxl_set_txpacket_parameter(2+3*i+1, dxl_get_lowbyte(GoalPos));
dxl_set_txpacket_parameter(2+3*i+2, dxl_get_highbyte(GoalPos));
}
dxl_set_txpacket_length((2+1)*NUM_ACTUATOR+4);
printf( "\n" );
dxl_txrx_packet();
CommStatus = dxl_get_result();
if( CommStatus == COMM_RXSUCCESS )
{
PrintErrorCode();
}
else
{
PrintCommStatus(CommStatus);
break;
}
theta += STEP_THETA;
usleep(CONTROL_PERIOD);
}while(theta < 2*PI);
}
dxl_terminate();
printf( "Press Enter key to terminate...\n" );
getchar();
return 0;
}
int main(){
int devNumber = 0;
int baudNumber = 1; //For 1 Mbps baud
printf("Running StandSit. Press ESC to terminate.\n");
if(!(dxl_initialize(devNumber, baudNumber))){
printf("Failed to open USB Interface. :(\n");
return 0;
}
else{
printf("USB Interfaced Opened! :D\n");
}
// if(SITTING_POS != dxl_read_byte(BROADCAST_ID, P_PRESENT_POSITION_L)){
//
// printf("Going to initial sitting position.\n");
// dxl_write_word(BROADCAST_ID, P_PRESENT_POSITION_L, SITTING_POS);
// while(1 == dxl_read_byte(BROADCAST_ID, P_MOVING));
// }
int loopCount = 0;
printf("Going into main loop...\n");
while(1){
printf("Loop time! Round %d\n", loopCount++);
// if(getchar() == 0x1b)
// break;
if(STANDING_POS == dxl_read_byte(BROADCAST_ID, P_PRESENT_POSITION_L)){
printf("Sitting down...\n");
dxl_write_word(BROADCAST_ID, P_PRESENT_POSITION_L, SITTING_POS);
}
else if(SITTING_POS == dxl_read_byte(BROADCAST_ID, P_PRESENT_POSITION_L)){
printf("Standing up...\n");
dxl_write_word(BROADCAST_ID, P_PRESENT_POSITION_L, STANDING_POS);
}
else{
int CommStatus = dxl_get_result();
switch(CommStatus)
{
case COMM_TXFAIL:
printf("COMM_TXFAIL: Failed transmit instruction packet!\n");
break;
case COMM_TXERROR:
printf("COMM_TXERROR: Incorrect instruction packet!\n");
break;
case COMM_RXFAIL:
printf("COMM_RXFAIL: Failed get status packet from device!\n");
break;
case COMM_RXWAITING:
printf("COMM_RXWAITING: Now recieving status packet!\n");
break;
case COMM_RXTIMEOUT:
printf("COMM_RXTIMEOUT: There is no status packet!\n");
break;
case COMM_RXCORRUPT:
printf("COMM_RXCORRUPT: Incorrect status packet!\n");
break;
default:
printf("This is unknown error code!\n");
break;
}
}
//while(1 == dxl_read_byte(BROADCAST_ID, P_MOVING));
sleep(1);
}
dxl_terminate();
printf("Shutting down...\n");
return 0;
}
ControlUtils::~ControlUtils()
{
dxl_terminate();
}
// High level initialization - specific robot settings for Bioloid
void dxl_init(int baudnum)
{
int commStatus = 0, errorStatus = 0;
// now prepare the Dynamixel servos
// first initialize the bus
dxl_initialize( 0, baudnum );
// wait 0.1s
_delay_ms(100);
// Next check the hardware configuration is valid
for (int i=0; i<NUM_AX12_SERVOS; i++)
{
// ping each servo in turn
errorStatus = dxl_ping(AX12_IDS[i]);
if (errorStatus == -1)
{
printf("\nHardware Configuration Failure at Dynamixel ID %i.\n", AX12_IDS[i]);
dxl_terminate();
return;
}
}
// set alarm LED and shutdown to prevent overheat/overload
commStatus = dxl_write_byte(BROADCAST_ID, DXL_ALARM_LED, 36);
if(commStatus != COMM_RXSUCCESS) {
printf("\nDXL_ALARM_LED Broadcast - ");
dxl_printCommStatus(dxl_get_result());
}
commStatus = dxl_write_byte(BROADCAST_ID, DXL_ALARM_SHUTDOWN, 36);
if(commStatus != COMM_RXSUCCESS) {
printf("\nDXL_ALARM_LED Broadcast - ");
dxl_printCommStatus(dxl_get_result());
}
// now set temperature and voltage limits
commStatus = dxl_write_byte(BROADCAST_ID, DXL_TEMPERATURE_LIMIT, 70);
if(commStatus != COMM_RXSUCCESS) {
printf("\nDXL_TEMPERATURE_LIMIT Broadcast - ");
dxl_printCommStatus(dxl_get_result());
}
commStatus = dxl_write_byte(BROADCAST_ID, DXL_LOW_VOLTAGE_LIMIT, 70);
if(commStatus != COMM_RXSUCCESS) {
printf("\nDXL_LOW_VOLTAGE_LIMIT Broadcast - ");
dxl_printCommStatus(dxl_get_result());
}
// set a 2-point compliance margin (equals 0.58 deg)
commStatus = dxl_write_byte(BROADCAST_ID, DXL_CW_COMPLIANCE_MARGIN, 2);
if(commStatus != COMM_RXSUCCESS) {
printf("\nDXL_CW_COMPLIANCE_MARGIN Broadcast - ");
dxl_printCommStatus(dxl_get_result());
}
commStatus = dxl_write_byte(BROADCAST_ID, DXL_CCW_COMPLIANCE_MARGIN, 2);
if(commStatus != COMM_RXSUCCESS) {
printf("\nDXL_CCW_COMPLIANCE_MARGIN Broadcast - ");
dxl_printCommStatus(dxl_get_result());
}
_delay_ms(100);
// and enable torque to keep positions
commStatus = dxl_write_byte(BROADCAST_ID, DXL_TORQUE_ENABLE, 1);
if(commStatus != COMM_RXSUCCESS) {
printf("\nDXL_TORQUE_ENABLE Broadcast - ");
dxl_printCommStatus(dxl_get_result());
}
_delay_ms(50);
}
int main()
{
int baudnum = 34;
int deviceIndex = 0;
printf( "\n\nRead/Write example for Linux\n\n" );
///////// Open USB2Dynamixel ////////////
if( dxl_initialize(deviceIndex, baudnum) == 0 )
{
printf( "Failed to open USB2Dynamixel!\n" );
printf( "Press Enter key to terminate...\n" );
getchar();
return 0;
}
else
printf( "Succeed to open USB2Dynamixel!\n" );
while(1)
{
printf( "Press Enter key to continue!(press ESC and Enter to quit)\n" );
if(getchar() == 0x1b)
break;
jointMode(4,180);
jointMode(5,180);
/* int i;
for (i=4;i<=5;i++) {
dxl_ping(i);
printf("%i",i);
int result = dxl_get_result( );
if( result == COMM_TXSUCCESS )
{
printf("TX+");
}
else if( result == COMM_RXSUCCESS )
{
printf("RX+");
int j;
for (j=0;j<=8;j++) {
int value;
result=dxl_get_result( );
if (result == COMM_RXSUCCESS) {
value=dxl_read_byte(i,j);
printf("%i->%i\n",j,value);
} else
printf("Error reading byte\n");
}
}
else if( result == COMM_TXFAIL )
{
printf("TX-");
}
else if( result == COMM_RXFAIL)
{
printf("RX-");
}
else if( result == COMM_TXERROR )
{
printf("TX-");
}
else if( result == COMM_RXWAITING )
{
printf("W?");
}
printf("\n");
} */
}
// Close device
dxl_terminate();
printf( "Press Enter key to terminate...\n" );
getchar();
return 0;
}
int main() {
double CoMavg;
double sumns = 0;
unsigned char dc1[2];
unsigned char dc2[2];
double arrayX[] = { -31.6190, -31.9288, -32.0040, -32.3204, -32.5042, -16.5338, -16.5530, -16.7062, -16.7277, -16.7474, 0.2290,0.1433,-0.1915,-0.4104,-0.6338,16.3727,16.4583,16.5425,16.6221,16.7002,32.8839,32.6383,32.3759,32.1024, 31.8116};
//{-20.0480,-22.4280,-20.0480,-22.4280,-20.0480,-14.0480,-16.4280,-14.0480,-16.4280,-14.0480,-8.0480,-10.4280,-8.0480,-10.4280,-8.0480,-2.0480,-4.4280,-2.0480,-4.4280,-2.0480,3.9520,1.5720,3.9520,1.5720,3.9520,9.9520,7.5720,9.9520,7.5720,9.9520,15.9520,13.5720,15.9520,13.5720,15.9520,21.9520,19.5720,21.9520, 19.5720, 21.9520};
// {4.76, 2.38, 4.76, 2.38, 4.76, 10.76, 8.38, 10.76, 8.38, 10.76, 16.76, 14.38, 16.76, 14.38, 16.76, 22.76,20.38,22.76, 20.38, 22.76,28.76, 26.38,28.76, 26.38, 28.76, 34.76, 32.38, 34.76, 32.38, 34.76, 40.76, 38.38, 40.76, 38.38, 40.76, 46.76, 44.38, 46.76, 44.38, 46.76};
//double arrayY[] = { 12,6,0,-6,-12,12,6,0,-6,-12,12,6,0,-6,-12,12,6,0,-6,-12,12,6,0,-6,-12,12,6,0,-6,-12,12,6,0,-6,-12,12,6,0,-6,-12};
//{27, 21, 15, 9, 3, 27, 21, 15, 9, 3, 27, 21, 15, 9, 3, 27, 21, 15, 9, 3, 27, 21, 15, 9, 3, 27, 21, 15, 9, 3, 27, 21, 15, 9, 3, 27, 21, 15, 9, 3};
double weight[] = {0.5241, 2.2774, 0, 0.3845, 1.4690, 0.0059, 0,3.7938, 0,2.6875,323.1828,238.0930,0,0,0,7.7829,0,1.6664,0,0,0.8394,0.8289,0,1.2467,0.5905};
//dynamixel initialization stuff
int baudnum = 1;
int limits[2] = {0, 1024};
int index = 0;
int deviceIndex = 0;
int Moving, PresentPos;
int CommStatus;
int ns = 20;
double CoMhist[ns];
if( dxl_initialize(deviceIndex, baudnum) == 0 ) {
printf( "Failed to open USB2Dynamixel!\n" );
}
int turnValue = 512;
dxl_write_word( MOTOR, 32, 75); //sets the speed for turning
dxl_write_word( MOTOR, P_GOAL_POSITION_L, turnValue );
TakkTile takktile = TakkTile();
takktile.startSampling(200,dc2);
double baseline[40];
std::cout<< "calibrating..." <<std::endl;
if(takktile.calibrate(baseline,10)==0) {
std::cout<< "error!" <<std::endl;
goto exit;
}
std::cout<<"done calibrating"<<std::endl;
for (int i=0; i<100000; i++) { //args instead of 5
if (i > ns) sumns = sumns - CoMhist[i%ns];
Data data;
if(takktile.getData(data)==0){ std::cout<< "error :(" <<std::endl; }
double sumx=0;
// double sumy=0;
double sum=0;
for (int j = 0; j < 25; j++) {//change to 40 for array
sumx += (double)(data.pressures[j]-baseline[j])*arrayX[j]*weight[j];
// sumy += (double)(data.pressures[i]-baseline[i])*arrayY[i]*weight[i];
sum += (double)(data.pressures[j]-baseline[j])*weight[j];
}
double CoMx = (double)(sumx)/(double)(sum);
// double CoMy = (double)(sumy)/(double)(sum);
CoMhist[i % ns] = CoMx;
sumns = sumns + CoMhist[i%ns];
CoMavg = (sumns / ns) + 1;
if (i > 500){
Moving = dxl_read_byte( DEFAULT_ID, P_MOVING );
std::cout<<CoMx<<","<<CoMavg<<","<<turnValue<<"; ";
//if (Moving){}
//else{
if(turnValue > 700) {
turnValue = 700;}
else if (turnValue < 350) { turnValue = 350;}
else turnValue = turnValue - (int)(CoMavg/2);//plus for arry
//std::cout<<turnValue<<std::endl;
}
dxl_write_word( MOTOR, P_GOAL_POSITION_L, turnValue );
//}
// do {
// Read present position
//PresentPos = dxl_read_word( MOTOR, P_PRESENT_POSITION_L );
//CommStatus = dxl_get_result();
//if( CommStatus == COMM_RXSUCCESS ) { // printf( "%d %d\n",turnValue, PresentPos );
//PrintErrorCode();
// } else {
//PrintCommStatus(CommStatus);
// std::cout<< "comm error" <<std::endl;
// break;
//}
// Check moving done
// Moving = dxl_read_byte( MOTOR, P_MOVING );
//CommStatus = dxl_get_result();
//if( CommStatus == COMM_RXSUCCESS ) {
// //PrintErrorCode();
//} else {
// std::cout<< "comm error 2" <<std::endl;
//PrintCommStatus(CommStatus);
// break;
//}
// } while(Moving == 1);
// PresentPos = dxl_read_word( MOTOR, P_PRESENT_POSITION_L );
// std::cout<< CoMx << " " << CoMy <<std::endl;
}//time how long this takes
// /for (int i = 0; i<100000000;i++);
exit: //note: doesn't quit very well
takktile.stopSampling(dc1);
takktile.TakkClose();
dxl_terminate();
return 0;
};
DynamixelInterface::~DynamixelInterface() {
dxl_terminate();
}
