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00026 #include "../robotis/rx28.h"
00027 #include <utils/time/tracker.h>
00028
00029 #include <cstdio>
00030 #include <unistd.h>
00031
00032 using namespace fawkes;
00033
00034 int
00035 main(int argc, char **argv)
00036 {
00037 RobotisRX28 rx28("/dev/ttyUSB0");
00038
00039 RobotisRX28::DeviceList devl = rx28.discover();
00040
00041 if (devl.empty()) {
00042 printf("No devices found\n");
00043 } else {
00044 for (RobotisRX28::DeviceList::iterator i = devl.begin(); i != devl.end(); ++i) {
00045 printf("Found servo with ID %d\n", *i);
00046 }
00047 }
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00125 try {
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00144 rx28.set_torque_enabled(0xFE, false);
00145
00146 rx28.goto_position(1, 800);
00147 for (RobotisRX28::DeviceList::iterator i = devl.begin(); i != devl.end(); ++i) {
00148 unsigned int angle_cw_limit, angle_ccw_limit, down_calib, up_calib;
00149 unsigned char voltage_low, voltage_high;
00150 unsigned char compl_cw_margin, compl_cw_slope, compl_ccw_margin, compl_ccw_slope;
00151 rx28.get_angle_limits(*i, angle_cw_limit, angle_ccw_limit);
00152 rx28.get_voltage_limits(*i, voltage_low, voltage_high);
00153 rx28.get_calibration(*i, down_calib, up_calib);
00154 rx28.get_compliance_values(*i, compl_cw_margin, compl_cw_slope, compl_ccw_margin, compl_ccw_slope);
00155
00156 printf("Servo %03u, model number: %u\n", *i, rx28.get_model(*i));
00157 printf("Servo %03u, current position: %u\n", *i, rx28.get_position(*i));
00158 printf("Servo %03u, firmware version: %u\n", *i, rx28.get_firmware_version(*i));
00159 printf("Servo %03u, baudrate: %u\n", *i, rx28.get_baudrate(*i));
00160 printf("Servo %03u, delay time: %u\n", *i, rx28.get_delay_time(*i));
00161 printf("Servo %03u, angle limits: CW: %u CCW: %u\n", *i, angle_cw_limit, angle_ccw_limit);
00162 printf("Servo %03u, temperature limit: %u\n", *i, rx28.get_temperature_limit(*i));
00163 printf("Servo %03u, voltage limits: %u to %u\n", *i, voltage_low, voltage_high);
00164 printf("Servo %03u, max torque: %u\n", *i, rx28.get_max_torque(*i));
00165 printf("Servo %03u, status return level: %u\n", *i, rx28.get_status_return_level(*i));
00166 printf("Servo %03u, alarm LED: %u\n", *i, rx28.get_alarm_led(*i));
00167 printf("Servo %03u, alarm shutdown: %u\n", *i, rx28.get_alarm_shutdown(*i));
00168 printf("Servo %03u, calibration: %u to %u\n", *i, down_calib, up_calib);
00169 printf("Servo %03u, torque enabled: %s\n", *i, rx28.is_torque_enabled(*i) ? "Yes" : "No");
00170 printf("Servo %03u, LED enabled: %s\n", *i, rx28.is_led_enabled(*i) ? "Yes" : "No");
00171 printf("Servo %03u, compliance: CW_M: %u CW_S: %u CCW_M: %u CCW_S: %u\n", *i,
00172 compl_cw_margin, compl_cw_slope, compl_ccw_margin, compl_ccw_slope);
00173 printf("Servo %03u, goal position: %u\n", *i, rx28.get_goal_position(*i));
00174 printf("Servo %03u, goal speed: %u\n", *i, rx28.get_goal_speed(*i));
00175 printf("Servo %03u, torque limit: %u\n", *i, rx28.get_torque_limit(*i));
00176 printf("Servo %03u, speed: %u\n", *i, rx28.get_speed(*i));
00177 printf("Servo %03u, load: %u\n", *i, rx28.get_load(*i));
00178 printf("Servo %03u, voltage: %u\n", *i, rx28.get_voltage(*i));
00179 printf("Servo %03u, temperature: %u\n", *i, rx28.get_temperature(*i));
00180 printf("Servo %03u, moving: %s\n", *i, rx28.is_moving(*i) ? "Yes" : "No");
00181 printf("Servo %03u, Locked: %s\n", *i, rx28.is_locked(*i) ? "Yes" : "No");
00182 printf("Servo %03u, Punch: %u\n", *i, rx28.get_punch(*i));
00183 }
00184 } catch (Exception &e) {
00185 }
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00206 return 0;
00207 }
00208
00209