oui

Makefile

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+all: dynamixel main
+	g++ DynamixelHandler.o main.o -L/usr/local/lib -ldxl_x64_cpp -lrt
+
+dynamixel: /home/ros/robotarm/toolkit-dynamixel/src/DynamixelHandler.cpp
+	g++ -c /home/ros/robotarm/toolkit-dynamixel/src/DynamixelHandler.cpp -I./toolkit-dynamixel/include toolkit-dynamixel/src/DynamixelHandler.cpp
+
+main: main.cpp
+	g++ -c main.cpp -I./toolkit-dynamixel/include main.cpp
+clean:
+	rm *.o
+	rm *.out

main.cpp

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+#include <iostream>
+#include <chrono>
+#include <thread>
+#include "DynamixelHandler.h"
+// Global variables
+DynamixelHandler _oDxlHandler;
+std::string _poppyDxlPortName = "/dev/ttyUSB0";
+float _poppyDxlProtocol = 2.0;
+int _poppyDxlBaudRate = 1000000;
+int _nbJoints = 6;
+float _minJointCmd = 0;
+float _maxJointCmd = 1023;
+float _minJointAngle = -180.0f;
+float _maxJointAngle = 180.0f;
+int convertAnglesToJointCmd(float fJointAngle)
+{ // y = ax + b
+float a = (_maxJointCmd-_minJointCmd) / (_maxJointAngle - _minJointAngle);
+float b = _minJointCmd - a * _minJointAngle;
+float jointCmd = a * fJointAngle + b;
+return (int)jointCmd;
+}
+void goToHomePosition()
+{ std::vector<uint16_t> l_vTargetJointPosition;
+for (int l_joint = 0; l_joint < _nbJoints; l_joint++)
+l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
+_oDxlHandler.sendTargetJointPosition(l_vTargetJointPosition);
+}
+int main()
+{ std::cout << "===Initialization of the Dynamixel Motor communication====" << std::endl;
+_oDxlHandler.setDeviceName(_poppyDxlPortName);
+_oDxlHandler.setProtocolVersion(_poppyDxlProtocol);
+_oDxlHandler.openPort();
+_oDxlHandler.setBaudRate(_poppyDxlBaudRate);
+_oDxlHandler.enableTorque(true);
+std::cout << std::endl;
+// read current joint position
+std::vector<uint16_t> l_vCurrentJointPosition;
+_oDxlHandler.readCurrentJointPosition(l_vCurrentJointPosition);
+// display current joint position
+std::cout << "vCurrentJointPosition= (" << std::endl;
+for (int l_joint=0; l_joint < l_vCurrentJointPosition.size(); l_joint++)
+std::cout << l_vCurrentJointPosition[l_joint] << ", ";
+std::cout << ")" << std::endl;
+// wait 1s
+goToHomePosition();
+// display current joint position
+std::cout << "vCurrentJointPosition= (" << std::endl;
+for (int l_joint=0; l_joint < l_vCurrentJointPosition.size(); l_joint++)
+std::cout << l_vCurrentJointPosition[l_joint] << ", ";
+std::cout << ")" << std::endl;
+std::this_thread::sleep_for(std::chrono::milliseconds(100000));
+std::cout << "===Closing the Dynamixel Motor communication====" << std::endl;
+_oDxlHandler.enableTorque(false);
+_oDxlHandler.closePort();
+std::cout << std::endl;
+return 0;
+}

toolkit-dynamixel

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+Subproject commit 94e8849aa1dce1c20b6ef1d0245d06a765cccaca

toolkit-kinematics

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+Subproject commit e1f43f40ba62381baa2ce328c3dfe910ecf75a30