Diff: main.cpp

Revision:

2:7004e3d0281f

Parent:

1:ef646c52e08f

--- a/main.cpp	Mon Jan 14 16:25:33 2013 +0000
+++ b/main.cpp	Mon Jan 14 21:04:59 2013 +0000
@@ -7,28 +7,33 @@
 int main() 
 {   
     sv.clear(0xFD);
+    
     sv.setTorque(0xFD, TORQUE_ON);
     
+    sv.getStatus(0xFD);
+    
+    sv.getPos(0xFD);
+   
     while(1) 
-    {       
+    {   
         // POS Mode, +159.8 Degree, 100*11.2ms = 1120ms, Green LED On
-        sv.movePos(0xFD, 1002, 100, GLED_ON);
+        sv.positionControl(0xFD, 1002, 100, GLED_ON);
         wait(5);
         
         // POS Mode, -159.8 Degree, 100*11.2ms = 1120ms, Blue LED On
-        sv.movePos(0xFD, 21, 100, BLED_ON);
+        sv.positionControl(0xFD, 21, 100, BLED_ON);
         wait(5);
 
         // TURN Mode, CCW Turn, Green LED On
-        sv.turn(0xFD, 1023, GLED_ON);
+        sv.velocityControl(0xFD, 1023, GLED_ON);
         wait(5);
         
         // TURN Mode, CW Turn, Blue LED On        
-        sv.turn(0xFD, -1023, BLED_ON);
+        sv.velocityControl(0xFD, -1023, BLED_ON);
         wait(5);
         
         // POS Mode, 0 Degree, 100*11.2ms = 1120ms, Red LED On
-        sv.movePos(0xFD, 512, 100, RLED_ON);
+        sv.positionControl(0xFD, 512, 100, RLED_ON);
         wait(5);
         
         // Clear error status