int main(int argc, char* argv[]) { if (!parse_args(argc, argv)) return 1; // -- start the dds runtime to use the default DDS partition, which // -- as per the DDS standard is "" dds::Runtime runtime(""); dds::Topic<PingType> pingTopic(topic); dds::DataWriter<PingType> writer(pingTopic); PingType d; d.number = 0; d.counter = 1; d.vendor = name.c_str(); for (int i = 0; i < N; ++i) { writer.write(d); std::cout << "."; std::cout.flush(); d.counter++; msecSleep(period); } std::cout << std::endl; return 0; }
int main() { // Initialize PortHandler Structs // Set the port path // Get methods and members of PortHandlerLinux or PortHandlerWindows int port_num = PortHandler(DEVICENAME); // Initialize PacketHandler Structs PacketHandler(); int dxl_comm_result = COMM_TX_FAIL; // Communication result UINT8_T dxl_error = 0; // Dynamixel error UINT8_T dxl_baudnum_read; // Read baudnum // Open port if (OpenPort(port_num)) { printf("Succeeded to open the port!\n"); } else { printf("Failed to open the port!\n"); printf("Press any key to terminate...\n"); _getch(); return 0; } // Set port baudrate if (SetBaudRate(port_num, BAUDRATE)) { printf("Succeeded to change the baudrate!\n"); } else { printf("Failed to change the baudrate!\n"); printf("Press any key to terminate...\n"); _getch(); return 0; } // Read present baudrate of the controller printf("Now the controller baudrate is : %d\n", GetBaudRate(port_num)); // Try factoryreset printf("[ID:%03d] Try factoryreset : ", DXL_ID); FactoryReset(port_num, PROTOCOL_VERSION, DXL_ID, OPERATION_MODE); if ((dxl_comm_result = GetLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS) { printf("Aborted\n"); PrintTxRxResult(PROTOCOL_VERSION, dxl_comm_result); return 0; } else if ((dxl_error = GetLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0) PrintRxPacketError(PROTOCOL_VERSION, dxl_error); // Wait for reset printf("Wait for reset...\n"); msecSleep(2000); printf("[ID:%03d] FactoryReset Success!\n", DXL_ID); // Set controller baudrate to Dynamixel default baudrate if (SetBaudRate(port_num, FACTORYRST_DEFAULTBAUDRATE)) { printf("Succeed to change the controller baudrate to : %d\n", FACTORYRST_DEFAULTBAUDRATE); } else { printf("Failed to change the controller baudrate\n"); printf("Press any key to terminate...\n"); _getch(); return 0; } // Read Dynamixel baudnum dxl_baudnum_read = Read1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_PRO_BAUDRATE); if ((dxl_comm_result = GetLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS) PrintTxRxResult(PROTOCOL_VERSION, dxl_comm_result); else if ((dxl_error = GetLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0) PrintRxPacketError(PROTOCOL_VERSION, dxl_error); else printf("[ID:%03d] DXL baudnum is now : %d\n", DXL_ID, dxl_baudnum_read); // Write new baudnum Write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_PRO_BAUDRATE, NEW_BAUDNUM); if ((dxl_comm_result = GetLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS) PrintTxRxResult(PROTOCOL_VERSION, dxl_comm_result); else if ((dxl_error = GetLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0) PrintRxPacketError(PROTOCOL_VERSION, dxl_error); else printf("[ID:%03d] Set Dynamixel baudnum to : %d\n", DXL_ID, NEW_BAUDNUM); // Set port baudrate to BAUDRATE if (SetBaudRate(port_num, BAUDRATE)) { printf("Succeed to change the controller baudrate to : %d\n", BAUDRATE); } else { printf("Failed to change the controller baudrate\n"); printf("Press any key to terminate...\n"); _getch(); return 0; } msecSleep(200); // Read Dynamixel baudnum dxl_baudnum_read = Read1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_PRO_BAUDRATE); if ((dxl_comm_result = GetLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS) PrintTxRxResult(PROTOCOL_VERSION, dxl_comm_result); else if ((dxl_error = GetLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0) PrintRxPacketError(PROTOCOL_VERSION, dxl_error); else printf("[ID:%03d] Dynamixel Baudnum is now : %d\n", DXL_ID, dxl_baudnum_read); // Close port ClosePort(port_num); return 0; }