Merge branch 'develop'

main.cpp

@@ -0,0 +1,81 @@
+#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); 
+} 
+
+void PosDisp() {
+// 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; 
+}
+
+
+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; 
+ 
+ // wait 1s 
+std::this_thread::sleep_for(std::chrono::milliseconds(1000)); 
+PosDisp(); 
+// wait 1s 
+std::this_thread::sleep_for(std::chrono::milliseconds(1000)); 
+ goToHomePosition();
+ // wait 1s 
+std::this_thread::sleep_for(std::chrono::milliseconds(1000)); 
+ PosDisp();
+ 
+ 
+// wait 1s 
+std::this_thread::sleep_for(std::chrono::milliseconds(10000)); 
+ 
+ 
+std::cout << "===Closing the Dynamixel Motor communication====" << std::endl; 
+_oDxlHandler.enableTorque(false); 
+_oDxlHandler.closePort(); 
+std::cout << std::endl; 
+ 
+ return 0; 
+} 

makefile

@@ -0,0 +1,11 @@
+all: DynamixelHandler main
+	g++ -o main.exe main.o DynamixelHandler.o -L/usr/local/lib -ldxl_x64_cpp -lrt 
+	
+DynamixelHandler: toolkit-dynamixel/src/DynamixelHandler.cpp
+	g++ -c -I./toolkit-dynamixel/include toolkit-dynamixel/src/DynamixelHandler.cpp -o DynamixelHandler.o
+	
+main: main.cpp
+	g++ -c -I./toolkit-dynamixel/include  main.cpp
+	
+clean:
+	rm main.exe main.o DynamixelHandler.o