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Merge pull request ROBOTIS-GIT#274 from ROBOTIS-GIT/develop
Merge pull request ROBOTIS-GIT#274 form ROBOTIS-GIT/develop
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‎c#/protocol2.0/clear_multi_turn/win32/.vs/clear_multi_turn/v14/.suo‎

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‎c#/protocol2.0/clear_multi_turn/win32/clear_multi_turn.sln‎

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Microsoft Visual Studio Solution File, Format Version 12.00
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# Visual Studio 14
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VisualStudioVersion = 14.0.25420.1
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MinimumVisualStudioVersion = 10.0.40219.1
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Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "clear_multi_turn", "clear_multi_turn\clear_multi_turn.csproj", "{321BAE3A-A494-47FA-A8CB-903202EB5FAE}"
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EndProject
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Global
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GlobalSection(SolutionConfigurationPlatforms) = preSolution
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Debug|Any CPU = Debug|Any CPU
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Debug|x64 = Debug|x64
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Debug|x86 = Debug|x86
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Release|Any CPU = Release|Any CPU
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Release|x64 = Release|x64
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Release|x86 = Release|x86
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EndGlobalSection
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GlobalSection(ProjectConfigurationPlatforms) = postSolution
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{321BAE3A-A494-47FA-A8CB-903202EB5FAE}.Debug|Any CPU.ActiveCfg = Release|Any CPU
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{321BAE3A-A494-47FA-A8CB-903202EB5FAE}.Debug|Any CPU.Build.0 = Release|Any CPU
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{321BAE3A-A494-47FA-A8CB-903202EB5FAE}.Debug|x64.ActiveCfg = Debug|x64
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{321BAE3A-A494-47FA-A8CB-903202EB5FAE}.Debug|x64.Build.0 = Debug|x64
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{321BAE3A-A494-47FA-A8CB-903202EB5FAE}.Debug|x86.ActiveCfg = Debug|x86
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{321BAE3A-A494-47FA-A8CB-903202EB5FAE}.Debug|x86.Build.0 = Debug|x86
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{321BAE3A-A494-47FA-A8CB-903202EB5FAE}.Release|Any CPU.ActiveCfg = Release|Any CPU
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{321BAE3A-A494-47FA-A8CB-903202EB5FAE}.Release|Any CPU.Build.0 = Release|Any CPU
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{321BAE3A-A494-47FA-A8CB-903202EB5FAE}.Release|x64.ActiveCfg = Release|x64
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{321BAE3A-A494-47FA-A8CB-903202EB5FAE}.Release|x64.Build.0 = Release|x64
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{321BAE3A-A494-47FA-A8CB-903202EB5FAE}.Release|x86.ActiveCfg = Release|x86
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{321BAE3A-A494-47FA-A8CB-903202EB5FAE}.Release|x86.Build.0 = Release|x86
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EndGlobalSection
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GlobalSection(SolutionProperties) = preSolution
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HideSolutionNode = FALSE
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EndGlobalSection
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EndGlobal

‎c#/protocol2.0/clear_multi_turn/win32/clear_multi_turn/App.config‎

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<?xml version="1.0" encoding="utf-8"?>
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<configuration>
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<startup>
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<supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.5"/>
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</startup>
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</configuration>

‎c#/protocol2.0/clear_multi_turn/win32/clear_multi_turn/ClearMultiTurn.cs‎

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/*******************************************************************************
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* Copyright 2017 ROBOTIS CO., LTD.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*******************************************************************************/
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/* Author: Ki Jong Gil (Gilbert) */
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//
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// ********* Clear Multi-Turn Example *********
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//
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//
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// Available Dynamixel model on this example : Dynamixel X-series (firmware v42 or above)
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// This example is designed for using a Dynamixel XM430-W350-R, and an U2D2.
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// To use another Dynamixel model, such as MX series, see their details in E-Manual(emanual.robotis.com) and edit below "#define"d variables yourself.
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// Be sure that Dynamixel properties are already set as %% ID : 1 / Baudnum : 1 (Baudrate : 57600)
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//
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using System;
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using System.Runtime.InteropServices;
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using dynamixel_sdk;
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namespace clear_multi_turn
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{
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class ClearMultiTurn
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{
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// Control table address
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public const int ADDR_OPERATING_MODE = 11; // Control table address is different in Dynamixel model
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public const int ADDR_TORQUE_ENABLE = 64;
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public const int ADDR_GOAL_POSITION = 116;
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public const int ADDR_PRESENT_POSITION = 132;
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// Protocol version
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public const int PROTOCOL_VERSION = 2; // See which protocol version is used in the Dynamixel
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// Default setting
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public const int DXL_ID = 1; // Dynamixel ID: 1
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public const int BAUDRATE = 57600;
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public const string DEVICENAME = "COM1"; // Check which port is being used on your controller
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// ex) Windows: "COM1" Linux: "/dev/ttyUSB0" Mac: "/dev/tty.usbserial-*"
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public const int TORQUE_ENABLE = 1; // Value for enabling the torque
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public const int TORQUE_DISABLE = 0; // Value for disabling the torque
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public const int MAX_POSITION_VALUE = 1048575; //
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public const int DXL_MOVING_STATUS_THRESHOLD = 20; // Dynamixel moving status threshold
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public const int EXT_POSITION_CONTROL_MODE = 4; // Value for extended position control mode (operating mode)
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public const byte ESC_ASCII_VALUE = 0x1b;
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public const byte SPACE_ASCII_VALUE = 0x20;
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public const int COMM_SUCCESS = 0; // Communication Success result value
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public const int COMM_TX_FAIL = -1001; // Communication Tx Failed
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static void Main(string[] args)
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{
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int port_num = dynamixel.portHandler(DEVICENAME);
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// Initialize PacketHandler Structs
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dynamixel.packetHandler();
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int index = 0;
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int dxl_comm_result = COMM_TX_FAIL; // Communication result
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byte dxl_error = 0; // Dynamixel error
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Int32 dxl_present_position = 0; // Present position
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// Open port
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if (dynamixel.openPort(port_num))
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{
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Console.WriteLine("Succeeded to open the port!");
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}
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else
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{
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Console.WriteLine("Failed to open the port!");
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Console.WriteLine("Press any key to terminate...");
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Console.ReadKey();
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return;
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}
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// Set port baudrate
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if (dynamixel.setBaudRate(port_num, BAUDRATE))
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{
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Console.WriteLine("Succeeded to change the baudrate!");
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}
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else
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{
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Console.WriteLine("Failed to change the baudrate!");
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Console.WriteLine("Press any key to terminate...");
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Console.ReadKey();
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return;
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}
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dynamixel.write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_OPERATING_MODE, EXT_POSITION_CONTROL_MODE);
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if ((dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
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{
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Console.WriteLine(Marshal.PtrToStringAnsi(dynamixel.getTxRxResult(PROTOCOL_VERSION, dxl_comm_result)));
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}
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else if ((dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
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{
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Console.WriteLine(Marshal.PtrToStringAnsi(dynamixel.getRxPacketError(PROTOCOL_VERSION, dxl_error)));
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}
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else
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{
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Console.WriteLine("Operating mode changed to extended position control mode.");
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}
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// Enable Dynamixel Torque
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dynamixel.write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_TORQUE_ENABLE, TORQUE_ENABLE);
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if ((dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
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{
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Console.WriteLine(Marshal.PtrToStringAnsi(dynamixel.getTxRxResult(PROTOCOL_VERSION, dxl_comm_result)));
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}
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else if ((dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
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{
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Console.WriteLine(Marshal.PtrToStringAnsi(dynamixel.getRxPacketError(PROTOCOL_VERSION, dxl_error)));
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}
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else
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{
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Console.WriteLine("Dynamixel has been successfully connected");
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}
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while (true)
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{
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Console.WriteLine("Press any key to continue! (or press ESC to quit!)");
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if (Console.ReadKey(true).KeyChar == ESC_ASCII_VALUE)
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break;
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Console.WriteLine(" Press SPACE key to clear multi-turn information! (or press ESC to stop!)");
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// Write goal position
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dynamixel.write4ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_GOAL_POSITION, MAX_POSITION_VALUE);
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if ((dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
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{
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Console.WriteLine(Marshal.PtrToStringAnsi(dynamixel.getTxRxResult(PROTOCOL_VERSION, dxl_comm_result)));
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}
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else if ((dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
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{
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Console.WriteLine(Marshal.PtrToStringAnsi(dynamixel.getRxPacketError(PROTOCOL_VERSION, dxl_error)));
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}
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do
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{
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// Read present position
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dxl_present_position = (Int32)dynamixel.read4ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_PRESENT_POSITION);
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if ((dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
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{
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Console.WriteLine(Marshal.PtrToStringAnsi(dynamixel.getTxRxResult(PROTOCOL_VERSION, dxl_comm_result)));
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}
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else if ((dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
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{
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Console.WriteLine(Marshal.PtrToStringAnsi(dynamixel.getRxPacketError(PROTOCOL_VERSION, dxl_error)));
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}
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Console.Write(string.Format(" [ID: {0}] GoalPos: {1} PresPos: {2}", DXL_ID, MAX_POSITION_VALUE, dxl_present_position, Environment.NewLine));
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Console.Write("\r".PadLeft(Console.WindowWidth - Console.CursorLeft - 1));
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if (Console.KeyAvailable)
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{
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char c = Console.ReadKey().KeyChar;
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if (c == SPACE_ASCII_VALUE)
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{
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Console.WriteLine("\n Stop & Clear Multi-Turn Information!");
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// Write the present position to the goal position to stop moving
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dynamixel.write4ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_GOAL_POSITION, (UInt32)dxl_present_position);
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if ((dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
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{
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Console.WriteLine(Marshal.PtrToStringAnsi(dynamixel.getTxRxResult(PROTOCOL_VERSION, dxl_comm_result)));
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}
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else if ((dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
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{
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Console.WriteLine(Marshal.PtrToStringAnsi(dynamixel.getRxPacketError(PROTOCOL_VERSION, dxl_error)));
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}
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System.Threading.Thread.Sleep(300);
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// Clear Multi-Turn Information
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dynamixel.clearMultiTurn(port_num, PROTOCOL_VERSION, DXL_ID);
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if ((dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
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{
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Console.WriteLine(Marshal.PtrToStringAnsi(dynamixel.getTxRxResult(PROTOCOL_VERSION, dxl_comm_result)));
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}
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else if ((dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
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{
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Console.WriteLine(Marshal.PtrToStringAnsi(dynamixel.getRxPacketError(PROTOCOL_VERSION, dxl_error)));
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}
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// Read present position
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dxl_present_position = (Int32)dynamixel.read4ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_PRESENT_POSITION);
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if ((dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
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{
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Console.WriteLine(Marshal.PtrToStringAnsi(dynamixel.getTxRxResult(PROTOCOL_VERSION, dxl_comm_result)));
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}
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else if ((dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
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{
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Console.WriteLine(Marshal.PtrToStringAnsi(dynamixel.getRxPacketError(PROTOCOL_VERSION, dxl_error)));
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}
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Console.WriteLine(" Present Position has been reset. : {0} \n", dxl_present_position);
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break;
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}
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else if ( c == ESC_ASCII_VALUE)
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{
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Console.WriteLine("\n Stopped!! \n");
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// Write the present position to the goal position to stop moving
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dynamixel.write4ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_GOAL_POSITION, (UInt32)dxl_present_position);
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if ((dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
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{
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Console.WriteLine(Marshal.PtrToStringAnsi(dynamixel.getTxRxResult(PROTOCOL_VERSION, dxl_comm_result)));
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}
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else if ((dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
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{
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Console.WriteLine(Marshal.PtrToStringAnsi(dynamixel.getRxPacketError(PROTOCOL_VERSION, dxl_error)));
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}
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break;
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}
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}
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} while ((Math.Abs(MAX_POSITION_VALUE - dxl_present_position) > DXL_MOVING_STATUS_THRESHOLD));
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}
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// Disable Dynamixel Torque
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dynamixel.write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_TORQUE_ENABLE, TORQUE_DISABLE);
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if ((dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
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{
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Console.WriteLine(Marshal.PtrToStringAnsi(dynamixel.getTxRxResult(PROTOCOL_VERSION, dxl_comm_result)));
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}
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else if ((dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
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{
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Console.WriteLine(Marshal.PtrToStringAnsi(dynamixel.getRxPacketError(PROTOCOL_VERSION, dxl_error)));
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}
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// Close port
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dynamixel.closePort(port_num);
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return;
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}
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}
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}

‎c#/protocol2.0/clear_multi_turn/win32/clear_multi_turn/Properties/AssemblyInfo.cs‎

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using System.Reflection;
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using System.Runtime.CompilerServices;
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using System.Runtime.InteropServices;
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// General Information about an assembly is controlled through the following
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// set of attributes. Change these attribute values to modify the information
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// associated with an assembly.
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[assembly: AssemblyTitle("clear_multi_turn")]
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[assembly: AssemblyDescription("")]
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[assembly: AssemblyConfiguration("")]
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[assembly: AssemblyCompany("")]
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[assembly: AssemblyProduct("clear_multi_turn")]
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[assembly: AssemblyCopyright("Copyright © 2018")]
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[assembly: AssemblyTrademark("")]
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[assembly: AssemblyCulture("")]
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// Setting ComVisible to false makes the types in this assembly not visible
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// to COM components. If you need to access a type in this assembly from
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// COM, set the ComVisible attribute to true on that type.
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[assembly: ComVisible(false)]
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// The following GUID is for the ID of the typelib if this project is exposed to COM
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[assembly: Guid("321bae3a-a494-47fa-a8cb-903202eb5fae")]
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// Version information for an assembly consists of the following four values:
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//
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// Major Version
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// Minor Version
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// Build Number
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// Revision
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//
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// You can specify all the values or you can default the Build and Revision Numbers
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// by using the '*' as shown below:
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// [assembly: AssemblyVersion("1.0.*")]
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[assembly: AssemblyVersion("1.0.0.0")]
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[assembly: AssemblyFileVersion("1.0.0.0")]

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