add ChangeID example.

CMakeLists.txt

@@ -23,6 +23,9 @@ target_link_libraries(example_b1_motor ${EXTRA_LIBS})
 add_executable(example_goM8010_6_motor example/example_goM8010_6_motor.cpp)
 target_link_libraries(example_goM8010_6_motor ${EXTRA_LIBS})
 
+add_executable(changeID example/changeID.cpp)
+target_link_libraries(changeID ${EXTRA_LIBS})
+
 set(LIBRARY_OUTPUT_PATH "../lib")
 add_subdirectory(thirdparty/pybind11)
 pybind11_add_module(unitree_actuator_sdk thirdparty/python_wrapper/wrapper.cpp)

example/changeID.cpp

@@ -0,0 +1,52 @@
+#include <stdio.h>
+#include <string.h>
+#include <unistd.h>
+#include <stdlib.h>
+#include "serialPort/SerialPort.h"
+#include "unitreeMotor/unitreeMotor.h"
+
+#define BroadAllMotorID     0xBB
+#define MotorPulsator       11
+
+int main(){
+    char serial_name[100];
+
+    MotorCmd motor_s;
+    MotorData motor_r;
+
+    motor_s.motorType = MotorType::B1;    // set the motor type, A1 or B1
+    motor_r.motorType = motor_s.motorType;
+
+    printf("Please input the name of serial port.(e.g. Linux:/dev/ttyUSB0, Windows:\\\\.\\COM3)\n");
+    scanf("%s",serial_name);
+    printf("The serial port is %s\n", serial_name);
+
+    SerialPort serial(serial_name);  // set the serial port name
+
+    motor_s.id = BroadAllMotorID;
+    motor_s.mode = 10;
+    serial.sendRecv(&motor_s, &motor_r);
+    
+    usleep(100000);  //sleep 0.1s
+
+    //进入拨轮模式（修改ID）
+    motor_s.mode = MotorPulsator;
+    motor_s.modify_data(&motor_s);
+    serial.send(motor_s.get_motor_send_data(), motor_s.hex_len);
+
+    printf("Please turn the motor.\n");
+    printf("One time: id=0; Two times: id=1, Three times: id=2\n");
+    printf("ID can only be 0, 1, 2\n");
+    printf("Once finished, press 'a'\n");
+
+    // int c;
+    while(getchar() != (int)'a');
+    printf("Turn finished\n");
+
+    //保存ID
+    motor_s.mode = 0;
+    motor_s.modify_data(&motor_s);
+    serial.send(motor_s.get_motor_send_data(), motor_s.hex_len);
+
+    return 0;
+}