80 lines
2.7 KiB
C++
80 lines
2.7 KiB
C++
/*******************************************************************************
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* Copyright 2016 ROBOTIS CO., LTD.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*******************************************************************************/
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#include <DynamixelShield.h>
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#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560)
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#include <SoftwareSerial.h>
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SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
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#define DEBUG_SERIAL soft_serial
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#elif defined(ARDUINO_SAM_DUE) || defined(ARDUINO_SAM_ZERO)
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#define DEBUG_SERIAL SerialUSB
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#else
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#define DEBUG_SERIAL Serial
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#endif
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const uint8_t DXL_ID = 1;
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const float DXL_PROTOCOL_VERSION = 2.0;
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uint32_t BAUDRATE = 57600;
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uint32_t NEW_BAUDRATE = 1000000; //1Mbsp
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DynamixelShield dxl;
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//This namespace is required to use Control table item names
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using namespace ControlTableItem;
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void setup() {
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// put your setup code here, to run once:
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// For Uno, Nano, Mini, and Mega, use UART port of DYNAMIXEL Shield to debug.
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DEBUG_SERIAL.begin(115200);
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// Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
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dxl.begin(BAUDRATE);
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// Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
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dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
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DEBUG_SERIAL.print("PROTOCOL ");
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DEBUG_SERIAL.print(DXL_PROTOCOL_VERSION, 1);
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DEBUG_SERIAL.print(", ID ");
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DEBUG_SERIAL.print(DXL_ID);
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DEBUG_SERIAL.print(": ");
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if(dxl.ping(DXL_ID) == true) {
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DEBUG_SERIAL.print("ping succeeded!");
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DEBUG_SERIAL.print(", Baudrate: ");
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DEBUG_SERIAL.println(BAUDRATE);
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// Turn off torque when configuring items in EEPROM area
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dxl.torqueOff(DXL_ID);
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// Set a new baudrate(1Mbps) for DYNAMIXEL
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dxl.setBaudrate(DXL_ID, NEW_BAUDRATE);
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DEBUG_SERIAL.println("Baudrate has been successfully changed to 1Mbps");
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// Change to the new baudrate for communication.
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dxl.begin(NEW_BAUDRATE);
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// Change back to the initial baudrate
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dxl.setBaudrate(DXL_ID, BAUDRATE);
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DEBUG_SERIAL.println("Baudrate has been successfully changed back to initial baudrate");
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}
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else{
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DEBUG_SERIAL.println("ping failed!");
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}
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}
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void loop() {
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// put your main code here, to run repeatedly:
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} |