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