Visual C#

This is an example for Visual C#.

This example has been tested in Visual Studio 2005.

Setting Environment

The environment must be set in C# to execute the examples.

◆ Using Dynamixel API

1. In the Solution Browser, select Add -> Existing Category by clicking the right button of the mouse on the Project File name.

2. Add dynamixel.cs file.  dynamixel.cs is in the import folder where DynamixelSDK is saved.

(For example, C:\DynamixelSDK\import\dynamixel.cs)

3. Check whether the dynamixel.cs is added or not.

4. Add using ROBOTIS, and then use Dynamixel API functions.

Please refer to API Reference on the usage of each function.

Read/Write Example

This is a Read / Write example of Dynamixel.  

[Preparation]

One Dynamixel must be connected to USB2Dynamixel.

The ID of used Dynamixel must be 1, and the communication speed must be set to 1Mbps.  

In case of using EX-series Dynamixel, the source for EX-series must be used.

[Source]

• Initiailization

The source above is to check whether the initialization is done properly or not.

Since the initialization is succeeded, 1 is returned; if it is failed, 0 is returned, the failed source is included in 'If" sentence, and the succeeded source goes to "Else" sentence.

dxl_initialize function is called from dynamixel API.

DEFAULT_PORTNUM means the number of a connected device.

DEFAULT_BAUDNUM means the set value of Baud Rate.

DEFAULT_PORTNUM and DEFAULT_BAUDNUM must be set pursuant to users' status.

PORTNUM is originally set to COM3, and DEFAULT_BAUDNUM is set to 1Mbps.

• Termination

The source above is for termination.

The connection is terminated by calling dxl_teminate function from dynamixel API.

• Moving to Goal Position

The source above is to move Dynamixel to goal position.

dxl_write_word function is called from dynamixel API.

DEFAULT_ID means the ID value of currently connected Dynamixel.

 P_GOAL_POSITION_L value declared, in advance, the starting address value (30), which belongs to GOAL_POSITION of the Dynamixel's Control Table.

GoalPos(index) declares GoalPosition value which is desired to move by array; thus, the relevant value is transmitted whenever the index is changed.

※  Word-type and byte-type functions are used to read and write the value on Dynamixel.

If the values of Dynamixel in Control Table are byte-type, the functions such as dxl_write_byte and dxl_read_byte are used are used, and if the functions are word-type, dxl_write_word and  dxl_read_word functions are used.

Since position information is a word-type function, word-type functions are used for the following examples.

• Reading Present Position

The source above reads the present position value of Dynamixel on PresentPos variables.

dxl_read_word function is called from dynamixel API.

DEFAULT_ID means the ID value of currently connected Dynamixel.

P_PRESENT_POSITION_L value declared, in advance, the starting address value (36), which saves the present position of Dynamixel.

• Checking the Packet Communication Result

The source above saves the packet communication result in CommStatus variables.

dxl_get_result function is used to check whether the result is correct ro not.

If the result is successful, it checks the error status during the operation of Dynamixel by calling PrintErrorCode function.

If the result is failed, the error information returned from dxl_get_result function is transmitted to PrintCommStatus function and printed on the screen.

○ PrintErrorCode Function

PrintErrorCode function checks the status packet error by calling dxl_get_rxpacket_error function.

○  PrintCommStatus Function

PrintCommStatus prints the error information returned from dxl_get_result function on the screen.

• Moving or Not Moving

The source above checks and saves whether Dynamixel is moving or not, using dxl_read_byte on moving variable.

DEFAULT_ID means the ID value of relevant Dynamixel.

P_MOVING means Moving part's address value (46) in Dynamixel's Control Table.

Moving value is checked using dxl_read_byte because Moving is byte-type data.

Sync Write Example

[Preparation]

Three Dynamixels must be connected to USB2Dynamixel.

The IDs of each Dynamixel are 1, 2, and 3, and the communication speed must be set to 1Mbps.

In case of using EX-series Dynamixel, the source for EX-series must be used.

[Source]

• Setting the ID Value

The source above is to insert the ID value of Dynamixel on the ID array.

The Dynamixel with the IDs of 1, 2, and 3 are used in the examples.

If Dynamixel with different ID value is used, the Dynamixel's ID value must be changed, or the ID array value in the source must be inputted as the relevant Dynamixel ID value.

• Making Packet

The source above is to make syncwrite packet.

Please refer to Dynamixel Packet Structure for the packet structure, and the packet must be made using necessary functions to make packet.