Yoonseok Pyo / Mbed 2 deprecated HerkuleX-HelloWorld

HerkuleX-HelloWorld

Dependencies:   herkulex mbed

This herkulex library is based on DongBu Robot documentation and protocol.

http://dasarobot.com/guide/herkulexeng.pdf

/media/uploads/passionvirus/mbedandherkulex_i.png /media/uploads/passionvirus/range.png

main.cpp@2:7004e3d0281f, 2013-01-14 (annotated)

Committer:
passionvirus
Date:
Mon Jan 14 21:04:59 2013 +0000
Revision:
2:7004e3d0281f
Parent:
1:ef646c52e08f 
new example code (rxPacket, getStatus, getPosition)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
passionvirus 0:50f3665aec00 1 #include "mbed.h"
passionvirus 0:50f3665aec00 2 #include "herkulex.h"
passionvirus 0:50f3665aec00 3
passionvirus 1:ef646c52e08f 4 // set serial port and baudrate, (mbed <-> HerculexX)
passionvirus 0:50f3665aec00 5 Herkulex sv(p9, p10, 115200);
passionvirus 0:50f3665aec00 6
passionvirus 0:50f3665aec00 7 int main()
passionvirus 0:50f3665aec00 8 {
passionvirus 1:ef646c52e08f 9 sv.clear(0xFD);
passionvirus 2:7004e3d0281f 10
passionvirus 0:50f3665aec00 11 sv.setTorque(0xFD, TORQUE_ON);
passionvirus 1:ef646c52e08f 12
passionvirus 2:7004e3d0281f 13 sv.getStatus(0xFD);
passionvirus 2:7004e3d0281f 14
passionvirus 2:7004e3d0281f 15 sv.getPos(0xFD);
passionvirus 2:7004e3d0281f 16
passionvirus 0:50f3665aec00 17 while(1)
passionvirus 2:7004e3d0281f 18 {
passionvirus 1:ef646c52e08f 19 // POS Mode, +159.8 Degree, 100*11.2ms = 1120ms, Green LED On
passionvirus 2:7004e3d0281f 20 sv.positionControl(0xFD, 1002, 100, GLED_ON);
passionvirus 1:ef646c52e08f 21 wait(5);
passionvirus 0:50f3665aec00 22
passionvirus 1:ef646c52e08f 23 // POS Mode, -159.8 Degree, 100*11.2ms = 1120ms, Blue LED On
passionvirus 2:7004e3d0281f 24 sv.positionControl(0xFD, 21, 100, BLED_ON);
passionvirus 1:ef646c52e08f 25 wait(5);
passionvirus 1:ef646c52e08f 26
passionvirus 1:ef646c52e08f 27 // TURN Mode, CCW Turn, Green LED On
passionvirus 2:7004e3d0281f 28 sv.velocityControl(0xFD, 1023, GLED_ON);
passionvirus 1:ef646c52e08f 29 wait(5);
passionvirus 1:ef646c52e08f 30
passionvirus 1:ef646c52e08f 31 // TURN Mode, CW Turn, Blue LED On
passionvirus 2:7004e3d0281f 32 sv.velocityControl(0xFD, -1023, BLED_ON);
passionvirus 1:ef646c52e08f 33 wait(5);
passionvirus 1:ef646c52e08f 34
passionvirus 1:ef646c52e08f 35 // POS Mode, 0 Degree, 100*11.2ms = 1120ms, Red LED On
passionvirus 2:7004e3d0281f 36 sv.positionControl(0xFD, 512, 100, RLED_ON);
passionvirus 1:ef646c52e08f 37 wait(5);
passionvirus 1:ef646c52e08f 38
passionvirus 1:ef646c52e08f 39 // Clear error status
passionvirus 1:ef646c52e08f 40 sv.clear(0xFD);
passionvirus 0:50f3665aec00 41 }
passionvirus 0:50f3665aec00 42 }