From f8aba10c5184f815b65b2bc3f11ddf9beca8d71d Mon Sep 17 00:00:00 2001
From: Loic Delattre <loic.delattre@ecam.fr>
Date: Fri, 10 Mar 2023 09:14:55 +0100
Subject: [PATCH] make file and Robot_arm good

---
 Robot_arm.cpp | 18 +++++++++---------
 makefile      |  9 +++++----
 2 files changed, 14 insertions(+), 13 deletions(-)

diff --git a/Robot_arm.cpp b/Robot_arm.cpp
index 067c16c..b6fcc4c 100644
--- a/Robot_arm.cpp
+++ b/Robot_arm.cpp
@@ -3,7 +3,7 @@
 #include <thread>
 #include "DynamixelHandler.h"
 
-using namespcae std
+using namespace std;
 
 // Global variables
 DynamixelHandler _oDxlHandler;
@@ -18,15 +18,15 @@ float _maxJointAngle = 180.0f;
 int main()
 { 
 	cout << "===Initialization of the Dynamixel Motor communication====" << endl;
-_	oDxlHandler.setDeviceName(_poppyDxlPortName);
-_	oDxlHandler.setProtocolVersion(_poppyDxlProtocol);
-_	oDxlHandler.openPort();
-_	oDxlHandler.setBaudRate(_poppyDxlBaudRate);
-_	oDxlHandler.enableTorque(true);
+	_oDxlHandler.setDeviceName(_poppyDxlPortName);
+	_oDxlHandler.setProtocolVersion(_poppyDxlProtocol);
+	_oDxlHandler.openPort();
+	_oDxlHandler.setBaudRate(_poppyDxlBaudRate);
+	_oDxlHandler.enableTorque(true);
 	cout << endl;
 	// read current joint position
 	vector<uint16_t> l_vCurrentJointPosition;
-_	oDxlHandler.readCurrentJointPosition(l_vCurrentJointPosition);
+	_oDxlHandler.readCurrentJointPosition(l_vCurrentJointPosition);
 	// display current joint position
 	cout << "vCurrentJointPosition= (" << endl;
 	for (int l_joint=0; l_joint < l_vCurrentJointPosition.size(); l_joint++)
@@ -35,8 +35,8 @@ _	oDxlHandler.readCurrentJointPosition(l_vCurrentJointPosition);
 	// wait 1s
 	this_thread::sleep_for(chrono::milliseconds(1000));
 	cout << "===Closing the Dynamixel Motor communication====" << endl;
-_	oDxlHandler.enableTorque(false);
-_	oDxlHandler.closePort();
+	_oDxlHandler.enableTorque(false);
+	_oDxlHandler.closePort();
 	cout << endl;
 	return 0;
 }
\ No newline at end of file
diff --git a/makefile b/makefile
index ddf32df..d99c69b 100644
--- a/makefile
+++ b/makefile
@@ -1,10 +1,11 @@
-all: Robot_arm
-	g++ Robot_arm.o -o Robot_arm.exe –L/usr/local/lib –ldxl_x64_cpp -lrt
+all: Robot_arm DynamixelHandler
+	g++ DynamixelHandler.o Robot_arm.o -o Robot_arm.exe -L/usr/local/lib -ldxl_x64_cpp -lrt
 	
 Robot_arm: Robot_arm.cpp
-	g++ -c Robot_arm.cpp 
+	g++ -c Robot_arm.cpp -I/home/ros/SOFTWARE/toolkit-dynamixel/include
 	
-
+DynamixelHandler: /home/ros/SOFTWARE/toolkit-dynamixel/src/DynamixelHandler.cpp
+	g++ -c -I/home/ros/SOFTWARE/toolkit-dynamixel/include /home/ros/SOFTWARE/toolkit-dynamixel/src/DynamixelHandler.cpp
 	
 clean:
 	rm *.o