21 int main(
int argc,
char *argv[])
23 const char* port_name =
"/dev/ttyUSB0";
24 int baud_rate = 57600;
28 printf(
"Please set '-port_name' and '-baud_rate' arguments for connected Dynamixels\n");
34 baud_rate = atoi(argv[2]);
42 uint8_t scanned_id[16];
46 result =
dxl_wb.
init(port_name, baud_rate, &log);
50 printf(
"Failed to init\n");
55 printf(
"Succeeded to init(%d)\n", baud_rate);
57 printf(
"Wait for scan...\n");
58 result =
dxl_wb.
scan(scanned_id, &dxl_cnt, range, &log);
62 printf(
"Failed to scan\n");
66 printf(
"Find %d Dynamixels\n", dxl_cnt);
68 for (
int cnt = 0; cnt < dxl_cnt; cnt++)
69 printf(
"id : %d, model name : %s\n", scanned_id[cnt],
dxl_wb.
getModelName(scanned_id[cnt]));