ROBOTIS e-Manual v1.13.01
| Dynamixel SDK |
It initializes the communication devices and makes ready status.
| int dxl_initialize( int devIndex , int baudnum ); |
- devIndex
It is the number of currently connected communication devices. (It may vary depending on the platform.)
For example, Windows distinguishes devices by COM Port.
- baudnum
It is Baud rate number to be set. It is the same number used by Dynamixel.
The following table shows the main Baudrate.
|
Address 4 |
Set BPS |
Goal BPS |
Error |
|
1 |
1000000.0 | 1000000.0 | 0.000 % |
|
3 |
500000.0 | 500000.0 | 0.000 % |
|
4 |
400000.0 | 400000.0 | 0.000 % |
|
7 |
250000.0 | 250000.0 | 0.000 % |
|
9 |
200000.0 | 200000.0 | 0.000 % |
|
16 |
117647.1 | 115200.0 | -2.124 % |
|
34 |
57142.9 | 57600.0 | 0.794 % |
|
103 |
19230.8 | 19200.0 | -0.160 % |
|
207 |
9615.4 | 9600.0 | -0.160 % |
- If the value is 1, it means success; however, if the value is 0, it means failure.
It shows COM3 Port in Windows environment and how to initialize the communication speed to 1Mbps.
| #define DEFAULT_PORTNUM 3 // COM3 #define DEFAULT_BAUDNUM 1 // 1Mbps int result; result = dxl_initialize( DEFAULT_PORTNUM, DEFAULT_BAUDNUM ); if( result == 1) { // Succeed to open USB2Dynamixel } else if( result == 0 ) { // Failed to open USB2Dynamixel } |