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Sample Code

Java Protocol 2.0

Java Reboot Protocol 2.0

/*
 * Reboot.java
 *
 *  Created on: 2016. 6. 23.
 *      Author: Ryu Woon Jung (Leon)
 */

//
// *********     Reboot Example      *********
//
//
// Available Dynamixel model on this example : All models using Protocol 2.0
// This example is designed for using a Dynamixel PRO 54-200, and an USB2DYNAMIXEL.
// To use another Dynamixel model, such as X series, see their details in E-Manual(support.robotis.com) and edit below variables yourself.
// Be sure that Dynamixel PRO properties are already set as %% ID : 1 / Baudnum : 3 (Baudrate : 1000000 [1M])
//

import java.util.Scanner;

public class Reboot
{
  public static void main(String[] args)
  {
    // Protocol version
    int PROTOCOL_VERSION                = 2;                   // See which protocol version is used in the Dynamixel

    // Default setting
    byte DXL_ID                         = 1;                   // Dynamixel ID: 1
    int BAUDRATE                        = 1000000;
    String DEVICENAME                   = "/dev/ttyUSB0";      // Check which port is being used on your controller
                                                               // ex) "COM1"   Linux: "/dev/ttyUSB0"

    int COMM_SUCCESS                    = 0;                   // Communication Success result value
    int COMM_TX_FAIL                    = -1001;               // Communication Tx Failed

    // Instead of getch
    Scanner scanner = new Scanner(System.in);

    // Initialize Dynamixel class for java
    Dynamixel dynamixel = new Dynamixel();

    // Initialize PortHandler Structs
    // Set the port path
    // Get methods and members of PortHandlerLinux or PortHandlerWindows
    int port_num = dynamixel.portHandler(DEVICENAME);

    // Initialize PacketHandler Structs
    dynamixel.packetHandler();

    int dxl_comm_result = COMM_TX_FAIL;                       // Communication result

    byte dxl_error = 0;                                       // Dynamixel error
    int dxl_model_number;                                     // Dynamixel model number

    // Open port
    if (dynamixel.openPort(port_num))
    {
      System.out.println("Succeeded to open the port!");
    }
    else
    {
      System.out.println("Failed to open the port!");
      System.out.println("Press any key to terminate...");
      scanner.nextLine();
      return;
    }

    // Set port baudrate
    if (dynamixel.setBaudRate(port_num, BAUDRATE))
    {
      System.out.println("Succeeded to change the baudrate!");
    }
    else
    {
      System.out.println("Failed to change the baudrate!");
      System.out.println("Press any key to terminate...");
      scanner.nextLine();
      return;
    }

    // Trigger
    System.out.println("Press any key to reboot");
    scanner.nextLine();

    System.out.println("See the Dynamixel LED flickering");
    // Try reboot
    // Dynamixel LED will flicker while it reboots
    dynamixel.reboot(port_num, PROTOCOL_VERSION, DXL_ID);
    if ((dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
    {
      dynamixel.printTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
    }
    else if ((dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
    {
      dynamixel.printRxPacketError(PROTOCOL_VERSION, dxl_error);
    }

    System.out.printf("[ID: %d] reboot Succeeded\n", DXL_ID);

    // Close port
    dynamixel.closePort(port_num);

    return;
  }
}

import java.util.Scanner;

The functions Scanner.* for I, are in the example code, and it uses java.util.Scanner library.

// Protocol version
int PROTOCOL_VERSION                = 2;                   // See which protocol version is used in the Dynamixel

Dynamixel uses either or both protocols: Protocol 1.0 and Protocol 2.0. Choose one of the Protocol which is appropriate in the Dynamixel.

// Default setting
byte DXL_ID                         = 1;                   // Dynamixel ID: 1
int BAUDRATE                        = 1000000;
String DEVICENAME                   = "/dev/ttyUSB0";      // Check which port is being used on your controller
                                                           // ex) "COM1"   Linux: "/dev/ttyUSB0"

Here we set some variables to let you freely change them and use them to run the example code.

As the document previously said in previous chapter, customize Dynamixel control table items, such as DXL_ID number, communication BAUDRATE, and the DEVICENAME, on your own terms of needs. In particular, BAUDRATE and DEVICENAME have systematical dependencies on your controller, so make clear what kind of communication method you will use.

int COMM_SUCCESS                    = 0;                   // Communication Success result value
int COMM_TX_FAIL                    = -1001;               // Communication Tx Failed

Each of the variables above show the meaning of the communication result value.

// Instead of getch
Scanner scanner = new Scanner(System.in);

This initializes instance for key detection.

// Initialize Dynamixel class for java
Dynamixel dynamixel = new Dynamixel();

This initializes Dynamixel class.

// Initialize PortHandler Structs
// Set the port path
// Get methods and members of PortHandlerLinux or PortHandlerWindows
int port_num = dynamixel.portHandler(DEVICENAME);

portHandler() function sets port path as DEVICENAME and get port_num, and prepares an appropriate functions for port control in controller OS automatically. port_num would be used in many functions in the body of the code to specify the port for use.

// Initialize PacketHandler Structs
dynamixel.packetHandler();

packetHandler() function initializes parameters used for packet construction and packet storing.

int dxl_comm_result = COMM_TX_FAIL;                       // Communication result

byte dxl_error = 0;                                       // Dynamixel error

dxl_comm_result indicates which error has been occurred during packet communication.

dxl_error shows the internal error in Dynamixel.

// Open port
if (dynamixel.openPort(port_num))
{
  System.out.println("Succeeded to open the port!");
}
else
{
  System.out.println("Failed to open the port!");
  System.out.println("Press any key to terminate...");
  scanner.nextLine();
  return;
}

First, controller opens #port_num port to do serial communication with the Dynamixel. If it fails to open the port, the example will be terminated.

// Set port baudrate
if (dynamixel.setBaudRate(port_num, BAUDRATE))
{
  System.out.println("Succeeded to change the baudrate!");
}
else
{
  System.out.println("Failed to change the baudrate!");
  System.out.println("Press any key to terminate...");
  scanner.nextLine();
  return;
}

Secondly, the controller sets the communication BAUDRATE at #port_num port opened previously.

// Try reboot
// Dynamixel LED will flicker while it reboots
dynamixel.reboot(port_num, PROTOCOL_VERSION, DXL_ID);
if ((dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
{
  dynamixel.printTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
}
else if ((dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
{
  dynamixel.printRxPacketError(PROTOCOL_VERSION, dxl_error);
}

reboot() function orders to the #DXL_ID Dynamixel through #port_num port, making it reboot. While rebooting, Dynamixel LED will flicker its light. The function checks Tx/Rx result and receives Hardware error. getLastTxRxResult() function and getLastRxPacketError() function get either, and then printTxRxResult() function and printRxPacketError() function show results on the console window if any communication error or Hardware error has been occurred.

// Close port
dynamixel.closePort(port_num);

return;

Finally, port becomes disposed.