aether.robotics wrote:
Tried compiling the code from the example but loads of compile errors, also the build in the file is in .exe format, and I'm running ubuntu.
Any suggestions.
Thanks
Chris paton
Hi,
I use AX-12 servo on RoBoard recently and run ubuntu(9.0.4). My simple code for AX-12 servo as below:
- Code:
#include <stdio.h>
#include <unistd.h>
#include <termios.h>
#include <fcntl.h>
int main(void) {
unsigned char data[11] = {0xff, 0xff, 0x01, 0x07, 0x03, 0x1e, 0xff, 0x03, 0x00, 0x02, 0xff};
unsigned char receive1[11] = {0};
unsigned char receive2[6] = {0};
int i;
int fp = open("/dev/ttyS2", O_RDWR | O_NOCTTY); // i use com3 (TX/RX short)
if(fp < 0) return 1;
termios term;
term.c_cflag |= CLOCAL | CREAD;
term.c_cflag &= ~(CSIZE);
term.c_cflag |= CS8; // 8 bits
term.c_cflag &= ~(PARENB); // no parity
term.c_cflag &= ~(CSTOPB); // 1 stopbit
cfsetospeed (&term, B115200); // output baudrate = 115200
cfsetispeed (&term, B115200); // input baudrate = 115200
term.c_iflag = IGNPAR; // No detect parity for input data.
term.c_oflag = 0;
term.c_lflag = 0;
term.c_cc[VTIME] = 10; // timeout = 1s
term.c_cc[VMIN] = 0;
tcflush(fp, TCIFLUSH);
tcsetattr(fp, TCSANOW, &term);
data[10] = ~(data[2] + data[3] + data[4] + data[5] + data[6] + data[7] + data[8] + data[9]);
write(fp, data, 11);
read(fp, receive1, 11);
read(fp, receive2, 6);
printf("Receive data from RoBoard :");
for(i=0; i<11; i++) printf("%X ", receive1[i]);
printf("\n");
printf("Receive data from AX-12 Servo :");
for(i=0; i<6; i++) printf("%X ", receive2[i]);
printf("\n");
close(fp);
return 0;
}
The AX-12 servo will go to 0x03ff position with 0x0200 speed.
You can first refer to RoBoard COM3 & COM4 setup tutorial to setup COM3. 
Statistics: Posted by acentw — Tue Apr 19, 2011 3:27 pm
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