From b67608109bd2d15d9d86f460d21827c36057570a Mon Sep 17 00:00:00 2001
From: "minh.meng-hour" <minh.meng-hour@ecam.fr>
Date: Thu, 9 Mar 2023 09:33:27 +0100
Subject: [PATCH] Finish make file

---
 README.md |  2 +-
 main.cpp  | 38 ++++++++++++++++++++++++++++++++++++++
 makefile  | 13 +++++++++++++
 3 files changed, 52 insertions(+), 1 deletion(-)
 create mode 100644 main.cpp
 create mode 100644 makefile

diff --git a/README.md b/README.md
index b2e51ae..3ffcda3 100644
--- a/README.md
+++ b/README.md
@@ -1,2 +1,2 @@
 # IntroRoboticsLab1
-
+control small robot
diff --git a/main.cpp b/main.cpp
new file mode 100644
index 0000000..0362a14
--- /dev/null
+++ b/main.cpp
@@ -0,0 +1,38 @@
+#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..ef8ee5e
--- /dev/null
+++ b/makefile
@@ -0,0 +1,13 @@
+all: dynamixel main
+	g++ DynamixelHandler.o main.o -L/usr/local/lib -ldxl_x64_cpp -lrt
+	
+dynamixel: /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
+	
+main: main.cpp
+	g++ -c -I/home/ros/SOFTWARE/toolkit-dynamixel/include main.cpp
+	
+clean:
+	rm *.o
+	rm a.out
+