find_dynamixel.cpp

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/*******************************************************************************
* Copyright 2018 ROBOTIS CO., LTD.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
*     http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/
 
/* Authors: Taehun Lim (Darby) */
 
#include <ros/ros.h>
#include <dynamixel_workbench_toolbox/dynamixel_workbench.h>
 
#define BAUDRATE_NUM 7
 
int main(int argc, char *argv[]) 
{
  std::string port_name = "/dev/ttyUSB0";
 
  if (argc < 2)
  {
    printf("Please set '-port_name'arguments for connected Dynamixels\n");
    return 0;
  }
  else
  {
    port_name = argv[1];
  }
 
  DynamixelWorkbench dxl_wb;
 
  const char *log;
  bool result = false;
 
  uint8_t scanned_id[100];
  uint8_t dxl_cnt = 0;
 
  uint32_t baudrate[BAUDRATE_NUM] = {9600, 57600, 115200, 1000000, 2000000, 3000000, 4000000};
  uint8_t range = 253;
 
  uint8_t index = 0;
 
  while (index < BAUDRATE_NUM)
  {
    result = dxl_wb.init(port_name.c_str(), baudrate[index], &log);
    if (result == false)
    {
      ROS_WARN("%s", log);
      ROS_WARN("Failed to init");
    }
    else
    {
      ROS_INFO("Succeed to init(%d)", baudrate[index]);
    }
 
    dxl_cnt = 0;
    for (uint8_t num = 0; num < 100; num++) scanned_id[num] = 0;
 
    ROS_INFO("Wait for scanning...");
    result = dxl_wb.scan(scanned_id, &dxl_cnt, range, &log);
    if (result == false)
    {
      ROS_WARN("%s", log);
      ROS_WARN("Failed to scan");
    }
    else
    {
      ROS_INFO("Find %d Dynamixels", dxl_cnt);
 
      for (int cnt = 0; cnt < dxl_cnt; cnt++)
        ROS_INFO("id : %d, model name : %s", scanned_id[cnt], dxl_wb.getModelName(scanned_id[cnt]));
    }
 
    index++;
  }
 
  return 0;
}