adding makefile

main.cpp

@@ -0,0 +1,45 @@
+#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 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
+	std::this_thread::sleep_for(std::chrono::milliseconds(1000));
+	std::cout << "===Closing the Dynamixel Motor communication====" << std::endl;
+	_oDxlHandler.enableTorque(false);
+	_oDxlHandler.closePort();
+	std::cout << std::endl;
+	
+	
+	return 0;
+}

makefile

@@ -0,0 +1,12 @@
+all:dynamixel main
+	g++ DynamixelHandler.o main.o –L/usr/local/lib –ldxl_x64_cpp -lrt
+	
+dynamixel: /home/vattana/Software/toolkit-dynamixel/src/DynamixelHandler.cpp
+	g++ -c -I/home/vattana/Software/toolkit-dynamixel/include /home/vattana/Software/toolkit-dynamixel/src/DynamixelHandler.cpp
+	
+main: main.cpp
+	g++ -c -I/home/vattana/Software/toolkit-dynamixel/include main.cpp
+	
+clean: 
+	rm *.o
+	rm a.out