From 8d66fb673a18f1293c070c718abd810d486e12e8 Mon Sep 17 00:00:00 2001
From: "ly.pechvattana" <ly.pechvattana@ecam.fr>
Date: Thu, 9 Mar 2023 15:10:45 +0700
Subject: [PATCH] adding makefile

---
 main.cpp | 45 +++++++++++++++++++++++++++++++++++++++++++++
 makefile | 12 ++++++++++++
 2 files changed, 57 insertions(+)
 create mode 100644 main.cpp
 create mode 100644 makefile

diff --git a/main.cpp b/main.cpp
new file mode 100644
index 0000000..c2a345c
--- /dev/null
+++ b/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;
+}
diff --git a/makefile b/makefile
new file mode 100644
index 0000000..5df077f
--- /dev/null
+++ b/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