Small changes in the bioloid library example.

src/examples/bioloid_robot_test.cpp

@@ -16,11 +16,12 @@ int main(int argc, char *argv[])
     num_servos=tina.mm_get_num_servos();
     std::cout << "Found " << num_servos << " servos" << std::endl;
     // enable all servos and assign them to the action module
-    for(i=0;i<num_servos;i++)
+    for(i=1;i<=18;i++)
     {
       tina.mm_enable_servo(i);
       tina.mm_assign_module(i,BIOLOID_MM_ACTION);
     }
+    tina.mm_enable_power();
     tina.mm_start();
 //    tina.imu_enable();
     angles=tina.mm_get_servo_angles();
@@ -28,7 +29,7 @@ int main(int argc, char *argv[])
       std::cout << "Servo " << i << " angle: " << angles[i] << std::endl;
 
     // execute an action
-    tina.action_load_page(32);
+    tina.action_load_page(31);
     tina.action_start();
 
     while(tina.action_is_page_running())
@@ -37,6 +38,12 @@ int main(int argc, char *argv[])
       angles=tina.mm_get_servo_angles();
       for(i=0;i<num_servos;i++)
         std::cout << "Servo " << i << " angle: " << angles[i] << std::endl;
+      count++;
+      if(count>50)
+      {
+        tina.action_stop();
+        count=0;
+      }
     }
 /*    for(i=0;i<10;i++)
     {
@@ -56,6 +63,7 @@ int main(int argc, char *argv[])
     }*/
 //    tina.imu_disable();
     tina.mm_stop();
+//    tina.mm_disable_power();
   }catch(CException &e){
     std::cout << e.what() << std::endl;
   }