#include <stdlib.h>
#include <stdio.h>
#include "mercury_sdk.h"

Macros
#define	ADDR_OPERATING_MODE 0x06

#define	ADDR_TORQUE_ENABLE 0x30

#define	ADDR_GOAL_POSITION 0x4e

#define	ADDR_PRESENT_POSITION 0x5a

#define	PROTOCOL_VERSION 2.0

#define	MCY_ID 1

#define	BAUDRATE 1000000

#define	DEVICENAME "/dev/ttyACM1"

#define	TORQUE_ENABLE 1

#define	TORQUE_DISABLE 0

#define	MAX_POSITION_VALUE -1

#define	DXL_MOVING_STATUS_THRESHOLD 20

#define	EXT_POSITION_CONTROL_MODE 3

#define	ESC_ASCII_VALUE 0x1b

#define	SPACE_ASCII_VALUE 0x20

Functions
int	getch ()

int	kbhit (void)

void	msecSleep (int waitTime)

int	main ()

Macro Definition Documentation

◆ ADDR_GOAL_POSITION

#define ADDR_GOAL_POSITION 0x4e

Definition at line 46 of file clear_multi_turn.cpp.

◆ ADDR_OPERATING_MODE

#define ADDR_OPERATING_MODE 0x06

Definition at line 44 of file clear_multi_turn.cpp.

◆ ADDR_PRESENT_POSITION

#define ADDR_PRESENT_POSITION 0x5a

Definition at line 47 of file clear_multi_turn.cpp.

◆ ADDR_TORQUE_ENABLE

#define ADDR_TORQUE_ENABLE 0x30

Definition at line 45 of file clear_multi_turn.cpp.

◆ BAUDRATE

#define BAUDRATE 1000000

Definition at line 54 of file clear_multi_turn.cpp.

◆ DEVICENAME

#define DEVICENAME "/dev/ttyACM1"

Definition at line 55 of file clear_multi_turn.cpp.

◆ DXL_MOVING_STATUS_THRESHOLD

#define DXL_MOVING_STATUS_THRESHOLD 20

Definition at line 61 of file clear_multi_turn.cpp.

◆ ESC_ASCII_VALUE

#define ESC_ASCII_VALUE 0x1b

Definition at line 64 of file clear_multi_turn.cpp.

◆ EXT_POSITION_CONTROL_MODE

#define EXT_POSITION_CONTROL_MODE 3

Definition at line 62 of file clear_multi_turn.cpp.

◆ MAX_POSITION_VALUE

#define MAX_POSITION_VALUE -1

Definition at line 60 of file clear_multi_turn.cpp.

◆ MCY_ID

#define MCY_ID 1

Definition at line 53 of file clear_multi_turn.cpp.

◆ PROTOCOL_VERSION

#define PROTOCOL_VERSION 2.0

Definition at line 50 of file clear_multi_turn.cpp.

◆ SPACE_ASCII_VALUE

#define SPACE_ASCII_VALUE 0x20

Definition at line 65 of file clear_multi_turn.cpp.

◆ TORQUE_DISABLE

#define TORQUE_DISABLE 0

Definition at line 59 of file clear_multi_turn.cpp.

◆ TORQUE_ENABLE

#define TORQUE_ENABLE 1

Definition at line 58 of file clear_multi_turn.cpp.

Function Documentation

◆ getch()

int getch ( )

Definition at line 67 of file clear_multi_turn.cpp.

◆ kbhit()

int kbhit ( void )

Definition at line 84 of file clear_multi_turn.cpp.

◆ main()

int main ( )

Definition at line 124 of file clear_multi_turn.cpp.

◆ msecSleep()

void msecSleep ( int waitTime )

Definition at line 115 of file clear_multi_turn.cpp.

Macros

Functions