48 lines
1.5 KiB
C++
48 lines
1.5 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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const uint8_t DXL_ID = 1;
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const float DXL_PROTOCOL_VERSION = 2.0;
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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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// Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
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dxl.begin(57600);
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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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// Get DYNAMIXEL information
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dxl.ping(DXL_ID);
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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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// Turn on the LED on DYNAMIXEL
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dxl.ledOn(DXL_ID);
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delay(500);
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// Turn off the LED on DYNAMIXEL
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dxl.ledOff(DXL_ID);
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delay(500);
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}
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