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  1. #define F_CPU 16000000UL
  2. #include <avr/io.h>
  3. #include <avr/interrupt.h>
  4. #include <util/delay.h>
  5. #include <dynamixel.h>
  6.  
  7. void moveservo();
  8.  
  9. int i;
  10.  
  11. int main(void)
  12. {
  13. 	DDRC = 0xFF;
  14. 	PORTC = 0xFE;
  15. 	TIMSK0 |= 0x01;
  16. 	TCCR0B &= 0xf8;
  17. 	TCCR0B |= 0x05;
  18. 	sei();
  19.  
  20. 	dxl_initialize(0,1); //0= number connected com devices, 1= Baud rate 
  21. 	serial_initialize(57600);
  22.  
  23.  
  24. 	while(1)
  25. 	{
  26. 		moveservo();
  27. 		_delay_ms(300);
  28. 	}
  29. 	return 1;
  30. }
  31.  
  32.  
  33. void moveservo()
  34. {
  35. 	i++;
  36. 	if (i > 4) i=0;
  37. 	int goal_pos = 160*i;
  38. 	//int mot_num = 18;
  39. 	int address = 30;
  40. 	//int pos = dxl_read_word(18,30);
  41. 	int pos2= dxl_read_word(18,36);
  42. 	//printf("Desire Position: %d Actual position: %d\n",pos,pos2);
  43. 	printf("Actual Position: %d\n",pos2);
  44. 	dxl_write_word(254,address,goal_pos);	
  45. }
  46.  
  47. ISR(TIMER0_OVF_vect)
  48. {
  49. 	static int j=0, i=0;
  50. 	j++;
  51. 	if (j>=64) {
  52. 		j=0;
  53. 		//PORTC = ~(1<<i);
  54. 		i++;
  55. 		if (i > 4) i=0;
  56. 		int goal_pos = 160*i;
  57. 		int mot_num = 18;
  58. 		int address = 30;
  59. 		int pos = dxl_read_word(18,36);
  60. 		dxl_write_word(254,address,goal_pos);
  61. 	}
  62. }
  63.  
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https://ideone.com/ezF0Y
language:
C (gcc 8.3)
created:
11 years ago
visibility:
public

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