Changed the GPIO interface to accomodate the changed in the firmware.

Removed the local copy of the dynamixel interface registers and used the firmware version.

src/CMakeLists.txt

@@ -13,7 +13,7 @@ INCLUDE (${PROJECT_SOURCE_DIR}/FindKDL.cmake)
 # driver source files
 SET(robot_sources darwin_robot.cpp darwin_robot_exceptions.cpp)
 # application header files
-SET(robot_headers darwin_robot.h darwin_robot_exceptions.h darwin_registers.h)
+SET(robot_headers darwin_robot.h darwin_robot_exceptions.h)
 
 # driver source files
 SET(kin_sources darwin_arm_kinematics.cpp darwin_robot_exceptions.cpp)
@@ -27,6 +27,7 @@ FIND_PACKAGE(dynamixel REQUIRED)
 INCLUDE_DIRECTORIES(.)
 INCLUDE_DIRECTORIES(${iriutils_INCLUDE_DIR})
 INCLUDE_DIRECTORIES(${dynamixel_INCLUDE_DIR})
+INCLUDE_DIRECTORIES(../../../stm32_firmware/include/)
 # create the shared library
 ADD_LIBRARY(darwin_robot SHARED ${robot_sources} ${XSD_SOURCES})
 ADD_DEPENDENCIES(darwin_robot xsd_files_gen)

src/darwin_registers.h

-#ifndef _DARWIN_REGISTERS_
-#define _DARWIN_REGISTERS_
-
-#define MAX_NUM_SERVOS 27
-
-typedef enum {
-  DARWIN_MODEL_NUMBER_L          = 0x00,
-  DARWIN_MODEL_NUMBER_H          = 0x01,
-  DARWIN_VERSION                 = 0x02,
-  DARWIN_ID                      = 0x03,
-  DARWIN_BAUD_RATE               = 0x04,
-  DARWIN_RETURN_DELAY_TIME       = 0x05,
-  DARWIN_MM_PERIOD_LOW           = 0x06,
-  DARWIN_MM_PERIOD_HIGH          = 0x07,
-  DARWIN_RETURN_LEVEL            = 0x10,
-  DARWIN_DXL_POWER               = 0x18,
-  DARWIN_LED_PANNEL              = 0x19,
-  DARWIN_LED_5_L                 = 0x1A,
-  DARWIN_LED_5_H                 = 0x1B,
-  DARWIN_LED_6_L                 = 0x1C,
-  DARWIN_LED_6_H                 = 0x1D,
-  DARWIN_PUSHBUTTON              = 0x1E,
-  DARWIN_MM_NUM_SERVOS           = 0x1F,
-  DARWIN_MM_CONTROL              = 0x20,
-  DARWIN_MM_STATUS               = 0x21,
-  DARWIN_WALK_CONTROL            = 0x22,
-  DARWIN_WALK_STATUS             = 0x23,
-  DARWIN_IMU_CONTROL             = 0x24,
-  DARWIN_IMU_STATUS              = 0x25,
-  DARWIN_IMU_ACCEL_X_L           = 0x26,
-  DARWIN_IMU_ACCEL_X_H           = 0x27,
-  DARWIN_IMU_ACCEL_Y_L           = 0x28,
-  DARWIN_IMU_ACCEL_Y_H           = 0x29,
-  DARWIN_IMU_ACCEL_Z_L           = 0x2A,
-  DARWIN_IMU_ACCEL_Z_H           = 0x2B,
-  DARWIN_IMU_GYRO_X_L            = 0x2C,
-  DARWIN_IMU_GYRO_X_H            = 0x2D,
-  DARWIN_IMU_GYRO_Y_L            = 0x2E,
-  DARWIN_IMU_GYRO_Y_H            = 0x2F,
-  DARWIN_IMU_GYRO_Z_L            = 0x30,
-  DARWIN_IMU_GYRO_Z_H            = 0x31,
-  DARWIN_VOLTAGE                 = 0x32,
-  DARWIN_MIC1_L                  = 0x33,
-  DARWIN_MIC1_H                  = 0x34,
-  DARWIN_ADC2_L                  = 0x35,
-  DARWIN_ADC2_H                  = 0x36,
-  DARWIN_ADC3_L                  = 0x37,
-  DARWIN_ADC3_H                  = 0x38,
-  DARWIN_ADC4_L                  = 0x39,
-  DARWIN_ADC4_H                  = 0x3A,
-  DARWIN_ADC5_L                  = 0x3B,
-  DARWIN_ADC5_H                  = 0x3C,
-  DARWIN_ADC6_L                  = 0x3D,
-  DARWIN_ADC6_H                  = 0x3E,
-  DARWIN_ADC7_L                  = 0x3F,
-  DARWIN_ADC7_H                  = 0x40,
-  DARWIN_ADC8_L                  = 0x41,
-  DARWIN_ADC8_H                  = 0x42,
-  DARWIN_MIC2_L                  = 0x43,
-  DARWIN_MIC2_H                  = 0x44,
-  DARWIN_ADC10_L                 = 0x45,
-  DARWIN_ADC10_H                 = 0x46,
-  DARWIN_ADC11_L                 = 0x47,
-  DARWIN_ADC11_H                 = 0x48,
-  DARWIN_ADC12_L                 = 0x49,
-  DARWIN_ADC12_H                 = 0x4A,
-  DARWIN_ADC13_L                 = 0x4B,
-  DARWIN_ADC13_H                 = 0x4C,
-  DARWIN_ADC14_L                 = 0x4D,
-  DARWIN_ADC14_H                 = 0x4E,
-  DARWIN_ADC15_L                 = 0x4F,
-  DARWIN_ADC15_H                 = 0x50,
-  DARWIN_MM_MODULE_EN0           = 0x51,
-  DARWIN_MM_MODULE_EN1           = 0x52,
-  DARWIN_MM_MODULE_EN2           = 0x53,
-  DARWIN_MM_MODULE_EN3           = 0x54,
-  DARWIN_MM_MODULE_EN4           = 0x55,
-  DARWIN_MM_MODULE_EN5           = 0x56,
-  DARWIN_MM_MODULE_EN6           = 0x57,
-  DARWIN_MM_MODULE_EN7           = 0x58,
-  DARWIN_MM_MODULE_EN8           = 0x59,
-  DARWIN_MM_MODULE_EN9           = 0x5A,
-  DARWIN_MM_MODULE_EN10          = 0x5B,
-  DARWIN_MM_MODULE_EN11          = 0x5C,
-  DARWIN_MM_MODULE_EN12          = 0x5D,
-  DARWIN_MM_MODULE_EN13          = 0x5E,
-  DARWIN_MM_MODULE_EN14          = 0x5F,
-  DARWIN_MM_MODULE_EN15          = 0x60,
-  DARWIN_MM_SERVO0_CUR_POS_L     = 0x61,
-  DARWIN_MM_SERVO0_CUR_POS_H     = 0x62,
-  DARWIN_MM_SERVO1_CUR_POS_L     = 0x63,
-  DARWIN_MM_SERVO1_CUR_POS_H     = 0x64,
-  DARWIN_MM_SERVO2_CUR_POS_L     = 0x65,
-  DARWIN_MM_SERVO2_CUR_POS_H     = 0x66,
-  DARWIN_MM_SERVO3_CUR_POS_L     = 0x67,
-  DARWIN_MM_SERVO3_CUR_POS_H     = 0x68,
-  DARWIN_MM_SERVO4_CUR_POS_L     = 0x69,
-  DARWIN_MM_SERVO4_CUR_POS_H     = 0x6A,
-  DARWIN_MM_SERVO5_CUR_POS_L     = 0x6B,
-  DARWIN_MM_SERVO5_CUR_POS_H     = 0x6C,
-  DARWIN_MM_SERVO6_CUR_POS_L     = 0x6D,
-  DARWIN_MM_SERVO6_CUR_POS_H     = 0x6E,
-  DARWIN_MM_SERVO7_CUR_POS_L     = 0x6F,
-  DARWIN_MM_SERVO7_CUR_POS_H     = 0x70,
-  DARWIN_MM_SERVO8_CUR_POS_L     = 0x71,
-  DARWIN_MM_SERVO8_CUR_POS_H     = 0x72,
-  DARWIN_MM_SERVO9_CUR_POS_L     = 0x73,
-  DARWIN_MM_SERVO9_CUR_POS_H     = 0x74,
-  DARWIN_MM_SERVO10_CUR_POS_L    = 0x75,
-  DARWIN_MM_SERVO10_CUR_POS_H    = 0x76,
-  DARWIN_MM_SERVO11_CUR_POS_L    = 0x77,
-  DARWIN_MM_SERVO11_CUR_POS_H    = 0x78,
-  DARWIN_MM_SERVO12_CUR_POS_L    = 0x79,
-  DARWIN_MM_SERVO12_CUR_POS_H    = 0x7A,
-  DARWIN_MM_SERVO13_CUR_POS_L    = 0x7B,
-  DARWIN_MM_SERVO13_CUR_POS_H    = 0x7C,
-  DARWIN_MM_SERVO14_CUR_POS_L    = 0x7D,
-  DARWIN_MM_SERVO14_CUR_POS_H    = 0x7E,
-  DARWIN_MM_SERVO15_CUR_POS_L    = 0x7F,
-  DARWIN_MM_SERVO15_CUR_POS_H    = 0x80,
-  DARWIN_MM_SERVO16_CUR_POS_L    = 0x81,
-  DARWIN_MM_SERVO16_CUR_POS_H    = 0x82,
-  DARWIN_MM_SERVO17_CUR_POS_L    = 0x83,
-  DARWIN_MM_SERVO17_CUR_POS_H    = 0x84,
-  DARWIN_MM_SERVO18_CUR_POS_L    = 0x85,
-  DARWIN_MM_SERVO18_CUR_POS_H    = 0x86,
-  DARWIN_MM_SERVO19_CUR_POS_L    = 0x87,
-  DARWIN_MM_SERVO19_CUR_POS_H    = 0x88,
-  DARWIN_MM_SERVO20_CUR_POS_L    = 0x89,
-  DARWIN_MM_SERVO20_CUR_POS_H    = 0x8A,
-  DARWIN_MM_SERVO21_CUR_POS_L    = 0x8B,
-  DARWIN_MM_SERVO21_CUR_POS_H    = 0x8C,
-  DARWIN_MM_SERVO22_CUR_POS_L    = 0x8D,
-  DARWIN_MM_SERVO22_CUR_POS_H    = 0x8E,
-  DARWIN_MM_SERVO23_CUR_POS_L    = 0x8F,
-  DARWIN_MM_SERVO23_CUR_POS_H    = 0x90,
-  DARWIN_MM_SERVO24_CUR_POS_L    = 0x91,
-  DARWIN_MM_SERVO24_CUR_POS_H    = 0x92,
-  DARWIN_MM_SERVO25_CUR_POS_L    = 0x93,
-  DARWIN_MM_SERVO25_CUR_POS_H    = 0x94,
-  DARWIN_MM_SERVO26_CUR_POS_L    = 0x95,
-  DARWIN_MM_SERVO26_CUR_POS_H    = 0x96,
-  DARWIN_ACTION_PAGE             = 0x97,
-  DARWIN_ACTION_CONTROL          = 0x98,
-  DARWIN_ACTION_STATUS           = 0x99,
-  DARWIN_X_OFFSET                = 0x9A,
-  DARWIN_Y_OFFSET                = 0x9B,
-  DARWIN_Z_OFFSET                = 0x9C,
-  DARWIN_ROLL                    = 0x9D,
-  DARWIN_PITCH                   = 0x9E,
-  DARWIN_YAW                     = 0x9F,
-  DARWIN_HIP_PITCH_OFF_L         = 0xA0,
-  DARWIN_HIP_PITCH_OFF_H         = 0xA1,
-  DARWIN_PERIOD_TIME_L           = 0xA2,
-  DARWIN_PERIOD_TIME_H           = 0xA3,
-  DARWIN_DSP_RATIO               = 0xA4,
-  DARWIN_STEP_FW_BW_RATIO        = 0xA5,
-  DARWIN_STEP_FW_BW              = 0xA6,
-  DARWIN_STEP_LEFT_RIGHT         = 0xA7,
-  DARWIN_STEP_DIRECTION          = 0xA8,
-  DARWIN_FOOT_HEIGHT             = 0xA9,
-  DARWIN_SWING_RIGHT_LEFT        = 0xAA,
-  DARWIN_SWING_TOP_DOWN          = 0xAB,
-  DARWIN_PELVIS_OFFSET           = 0xAC,
-  DARWIN_ARM_SWING_GAIN          = 0xAD,
-  DARWIN_P_GAIN                  = 0xAE,
-  DARWIN_D_GAIN                  = 0xAF,
-  DARWIN_I_GAIN                  = 0xB0,
-  DARWIN_MAX_ACC                 = 0xB1,
-  DARWIN_MAX_ROT_ACC             = 0xB2,
-  DARWIN_MM_KNEE_GAIN            = 0xB3,
-  DARWIN_MM_ANKLE_PITCH_GAIN     = 0xB4,
-  DARWIN_MM_HIP_ROLL_GAIN        = 0xB5,
-  DARWIN_MM_ANKLE_ROLL_GAIN      = 0xB6,
-  DARWIN_SERVO_0_SPEED           = 0xB7,
-  DARWIN_SERVO_1_SPEED           = 0xB8,
-  DARWIN_SERVO_2_SPEED           = 0xB9,
-  DARWIN_SERVO_3_SPEED           = 0xBA,
-  DARWIN_SERVO_4_SPEED           = 0xBB,
-  DARWIN_SERVO_5_SPEED           = 0xBC,
-  DARWIN_SERVO_6_SPEED           = 0xBD,
-  DARWIN_SERVO_7_SPEED           = 0xBE,
-  DARWIN_SERVO_8_SPEED           = 0xBF,
-  DARWIN_SERVO_9_SPEED           = 0xC0,
-  DARWIN_SERVO_10_SPEED          = 0xC1,
-  DARWIN_SERVO_11_SPEED          = 0xC2,
-  DARWIN_SERVO_12_SPEED          = 0xC3,
-  DARWIN_SERVO_13_SPEED          = 0xC4,
-  DARWIN_SERVO_14_SPEED          = 0xC5,
-  DARWIN_SERVO_15_SPEED          = 0xC6,
-  DARWIN_SERVO_16_SPEED          = 0xC7,
-  DARWIN_SERVO_17_SPEED          = 0xC8,
-  DARWIN_SERVO_18_SPEED          = 0xC9,
-  DARWIN_SERVO_19_SPEED          = 0xCA,
-  DARWIN_SERVO_20_SPEED          = 0xCB,
-  DARWIN_SERVO_21_SPEED          = 0xCC,
-  DARWIN_SERVO_22_SPEED          = 0xCD,
-  DARWIN_SERVO_23_SPEED          = 0xCE,
-  DARWIN_SERVO_24_SPEED          = 0xCF,
-  DARWIN_SERVO_25_SPEED          = 0xD0,
-  DARWIN_SERVO_26_SPEED          = 0xD1,
-  DARWIN_SERVO_0_ACCEL           = 0xD2,
-  DARWIN_SERVO_1_ACCEL           = 0xD3,
-  DARWIN_SERVO_2_ACCEL           = 0xD4,
-  DARWIN_SERVO_3_ACCEL           = 0xD5,
-  DARWIN_SERVO_4_ACCEL           = 0xD6,
-  DARWIN_SERVO_5_ACCEL           = 0xD7,
-  DARWIN_SERVO_6_ACCEL           = 0xD8,
-  DARWIN_SERVO_7_ACCEL           = 0xD9,
-  DARWIN_SERVO_8_ACCEL           = 0xDA,
-  DARWIN_SERVO_9_ACCEL           = 0xDB,
-  DARWIN_SERVO_10_ACCEL          = 0xDC,
-  DARWIN_SERVO_11_ACCEL          = 0xDD,
-  DARWIN_SERVO_12_ACCEL          = 0xDE,
-  DARWIN_SERVO_13_ACCEL          = 0xDF,
-  DARWIN_SERVO_14_ACCEL          = 0xE0,
-  DARWIN_SERVO_15_ACCEL          = 0xE1,
-  DARWIN_SERVO_16_ACCEL          = 0xE2,
-  DARWIN_SERVO_17_ACCEL          = 0xE3,
-  DARWIN_SERVO_18_ACCEL          = 0xE4,
-  DARWIN_SERVO_19_ACCEL          = 0xE5,
-  DARWIN_SERVO_20_ACCEL          = 0xE6,
-  DARWIN_SERVO_21_ACCEL          = 0xE7,
-  DARWIN_SERVO_22_ACCEL          = 0xE8,
-  DARWIN_SERVO_23_ACCEL          = 0xE9,
-  DARWIN_SERVO_24_ACCEL          = 0xEA,
-  DARWIN_SERVO_25_ACCEL          = 0xEB,
-  DARWIN_SERVO_26_ACCEL          = 0xEC,
-  DARWIN_JOINTS_CONTROL          = 0xED,
-  DARWIN_JOINTS_STATUS           = 0xEE,
-  DARWIN_HEAD_PAN_L              = 0xEF,
-  DARWIN_HEAD_PAN_H              = 0xF0,
-  DARWIN_HEAD_TILT_L             = 0xF1,
-  DARWIN_HEAD_TILT_H             = 0xF2,
-  DARWIN_HEAD_PAN_P              = 0xF3,
-  DARWIN_HEAD_PAN_I              = 0xF4,
-  DARWIN_HEAD_PAN_D              = 0xF5,
-  DARWIN_HEAD_TILT_P             = 0xF6,
-  DARWIN_HEAD_TILT_I             = 0xF7,
-  DARWIN_HEAD_TILT_D             = 0xF8,
-  DARWIN_HEAD_CONTROL            = 0xF9,
-  DARWIN_HEAD_STATUS             = 0xFA,
-  DARWIN_MM_CUR_PERIOD           = 0xFB,
-  DARWIN_GRIPPER_CONTROL         = 0xFC,
-  DARWIN_GRIPPER_STATUS          = 0xFD,
-  DARWIN_GRIPPER_FORCE_LEFT      = 0xFE,
-  DARWIN_GRIPPER_FORCE_RIGHT     = 0xFF
-} darwin_registers;
-
-#endif

src/darwin_robot.h

@@ -2,41 +2,54 @@
 #define _DARWIN_ROBOT_H
 
 #include "dynamixel.h"
+#include "dynamixelserver_ftdi.h"
 #include "darwin_registers.h"
 
-extern const std::string servo_names[MAX_NUM_SERVOS];
+#define           MAX_NUM_SERVOS        31
 
+extern const std::string servo_names[MAX_NUM_SERVOS];
+/* available motion modules */
 typedef enum {DARWIN_MM_NONE=0x00,DARWIN_MM_ACTION=0x01,DARWIN_MM_WALKING=0x02,DARWIN_MM_JOINTS=0x03,DARWIN_MM_HEAD=0x04,DARWIN_MM_GRIPPER=0x05} mm_mode_t;
-
+/* available grippers */
 typedef enum {LEFT_GRIPPER=0,RIGHT_GRIPPER=1} grippers_t;
+/* available leds */
+#define           GPIO_NUM_LEDS         11
+
+typedef enum {LED_TX=0,LED_RX=1,LED_2=2,LED_3=3,LED_4=4,LED_5_R=5,LED_5_G=6,LED_5_B=7,LED_6_R=8,LED_6_G=9,LED_6_B=10} led_t;
+
+typedef struct
+{
+  unsigned short int control_reg;
+  unsigned short int data_reg;
+  unsigned char value_mask;
+  unsigned char toggle_mask;
+  unsigned char blink_mask;
+}led_info_t;
+
+/* available pushbuttons */
+#define           GPIO_NUM_PB           2
+
+typedef enum {START_PB=0,MODE_PB=1} pushbutton_t;
 
-class CDarwin_Robot
+class CDarwinRobot
 {
   private:
-    CDynamixelServer *dyn_server;  
+    CDynamixelServerFTDI *dyn_server;  
     CDynamixel *robot_device;
     std::string robot_name;
     unsigned char robot_id;
-    // GPIO variables
-    unsigned char current_led_value;
-    unsigned char current_pushbutton_value;
     // motion manager variables
     unsigned char num_servos;
   public:
-    CDarwin_Robot(const std::string &name,std::string &bus_id,int bus_speed, unsigned char id);
+    CDarwinRobot(const std::string &name,std::string &bus_id,int bus_speed, unsigned char id);
     // GPIO interface
-    void set_TxD_LED(void);
-    void clear_TxD_LED(void);
-    void set_RxD_LED(void);
-    void clear_RxD_LED(void);
-    void set_LED2(void);
-    void clear_LED2(void);
-    void set_LED3(void);
-    void clear_LED3(void);
-    void set_LED4(void);
-    void clear_LED4(void);
-    bool is_mode_button_pressed(void);
-    bool is_start_button_pressed(void);
+    void gpio_set_led(led_t led);
+    void gpio_clear_led(led_t led);
+    void gpio_toggle_led(led_t led);
+    void gpio_blink_led(led_t led, int period_ms);
+    void gpio_aux1_color(double red, double green, double blue);
+    void gpio_aux2_color(double red, double green, double blue);
+    bool is_button_pressed(pushbutton_t pushbutton);
     // motion manager interface
     void mm_set_period(double period_ms);
     double mm_get_period(void);
@@ -100,7 +113,7 @@ class CDarwin_Robot
     // gripper interface
     void gripper_open(grippers_t gripper);
     void gripper_close(grippers_t gripper);
-    ~CDarwin_Robot();
+    ~CDarwinRobot();
 };
 
 #endif

src/examples/CMakeLists.txt

 # create an example application
-ADD_EXECUTABLE(darwin_robot_test darwin_robot_test.cpp)
+#ADD_EXECUTABLE(darwin_robot_test darwin_robot_test.cpp)
 # link necessary libraries
-TARGET_LINK_LIBRARIES(darwin_robot_test darwin_robot)
+#TARGET_LINK_LIBRARIES(darwin_robot_test darwin_robot)
 
 # create an example application
-ADD_EXECUTABLE(darwin_joint_motion_test darwin_joint_motion_test.cpp)
+ADD_EXECUTABLE(darwin_gpio_test darwin_gpio_test.cpp)
 # link necessary libraries
-TARGET_LINK_LIBRARIES(darwin_joint_motion_test darwin_robot)
+TARGET_LINK_LIBRARIES(darwin_gpio_test darwin_robot)
 
 # create an example application
-ADD_EXECUTABLE(darwin_action_test darwin_action_test.cpp)
+#ADD_EXECUTABLE(darwin_joint_motion_test darwin_joint_motion_test.cpp)
 # link necessary libraries
-TARGET_LINK_LIBRARIES(darwin_action_test darwin_robot)
+#TARGET_LINK_LIBRARIES(darwin_joint_motion_test darwin_robot)
 
 # create an example application
-ADD_EXECUTABLE(darwin_walking_test darwin_walking_test.cpp)
+#ADD_EXECUTABLE(darwin_action_test darwin_action_test.cpp)
 # link necessary libraries
-TARGET_LINK_LIBRARIES(darwin_walking_test darwin_robot)
+#TARGET_LINK_LIBRARIES(darwin_action_test darwin_robot)
 
 # create an example application
-ADD_EXECUTABLE(darwin_imu_test darwin_imu_test.cpp)
+#ADD_EXECUTABLE(darwin_walking_test darwin_walking_test.cpp)
 # link necessary libraries
-TARGET_LINK_LIBRARIES(darwin_imu_test darwin_robot)
+#TARGET_LINK_LIBRARIES(darwin_walking_test darwin_robot)
 
 # create an example application
-ADD_EXECUTABLE(darwin_head_tracking_test darwin_head_tracking_test.cpp)
+#ADD_EXECUTABLE(darwin_imu_test darwin_imu_test.cpp)
 # link necessary libraries
-TARGET_LINK_LIBRARIES(darwin_head_tracking_test darwin_robot)
+#TARGET_LINK_LIBRARIES(darwin_imu_test darwin_robot)
 
 # create an example application
-ADD_EXECUTABLE(darwin_kin darwin_kin.cpp)
+#ADD_EXECUTABLE(darwin_head_tracking_test darwin_head_tracking_test.cpp)
 # link necessary libraries
-TARGET_LINK_LIBRARIES(darwin_kin darwin_arm_kinematics)
+#TARGET_LINK_LIBRARIES(darwin_head_tracking_test darwin_robot)
 
 # create an example application
-ADD_EXECUTABLE(darwin_gripper_test darwin_gripper_test.cpp)
+#ADD_EXECUTABLE(darwin_kin darwin_kin.cpp)
 # link necessary libraries
-TARGET_LINK_LIBRARIES(darwin_gripper_test darwin_robot)
+#TARGET_LINK_LIBRARIES(darwin_kin darwin_arm_kinematics)
+
+# create an example application
+#ADD_EXECUTABLE(darwin_gripper_test darwin_gripper_test.cpp)
+# link necessary libraries
+#TARGET_LINK_LIBRARIES(darwin_gripper_test darwin_robot)

src/examples/darwin_action_test.cpp

@@ -10,7 +10,7 @@ int main(int argc, char *argv[])
   int i=0,num_v1_servos,num_v2_servos;
 
   try{
-    CDarwin_Robot darwin("Darwin",robot_device,1000000,0xC0);
+    CDarwinRobot darwin("Darwin",robot_device,1000000,0xC0);
 
     darwin.mm_get_num_servos(&num_v1_servos,&num_v2_servos);
     std::cout << "Found " << num_v1_servos << " v1 servos and " << num_v2_servos << " v2 servos" << std::endl;

src/examples/darwin_gpio_test.cpp

+#include "darwin_robot.h"
+#include "darwin_robot_exceptions.h"
+
+#include <iostream>
+
+//std::string robot_device="A603LOBS";
+std::string robot_device="A4008atn";
+
+int main(int argc, char *argv[])
+{
+  try{
+    CDarwinRobot darwin("Darwin",robot_device,926100,0x02);
+    std::cout << "found darwin controller" << std::endl;
+    darwin.gpio_blink_led(LED_TX,1000);
+    darwin.gpio_blink_led(LED_RX,2000);
+    darwin.gpio_blink_led(LED_2,4000);
+    darwin.gpio_blink_led(LED_3,8000);
+    darwin.gpio_set_led(LED_4);
+    darwin.gpio_aux1_color(1.0,1.0,1.0);
+    darwin.gpio_aux2_color(0.5,0.5,0.5);
+    sleep(10);
+  }catch(CException &e){
+    std::cout << e.what() << std::endl;
+  }
+}

src/examples/darwin_gripper_test.cpp

@@ -11,7 +11,7 @@ int main(int argc, char *argv[])
   std::vector<double> angles;
 
   try{
-    CDarwin_Robot darwin("Darwin",robot_device,1000000,0xC0);
+    CDarwinRobot darwin("Darwin",robot_device,1000000,0xC0);
     darwin.mm_get_num_servos(&num_v1_servos,&num_v2_servos);
     std::cout << "Found " << num_v1_servos << " v1 servos and " << num_v2_servos << " v2 servos" << std::endl;
     darwin.mm_enable_power();

src/examples/darwin_head_tracking_test.cpp

@@ -12,7 +12,7 @@ int main(int argc, char *argv[])
   std::vector<double> angles,speeds,accels;
 
   try{
-    CDarwin_Robot darwin("Darwin",robot_device,1000000,0xC0);
+    CDarwinRobot darwin("Darwin",robot_device,1000000,0xC0);
 
     darwin.mm_get_num_servos(&num_v1_servos,&num_v2_servos);
     std::cout << "Found " << num_v1_servos << " v1 servos and " << num_v2_servos << " v2 servos" << std::endl;

src/examples/darwin_imu_test.cpp

@@ -13,7 +13,7 @@ int main(int argc, char *argv[])
   short int gyro_x,gyro_y,gyro_z;
 
   try{
-    CDarwin_Robot darwin("Darwin",robot_device,1000000,0xC0);
+    CDarwinRobot darwin("Darwin",robot_device,1000000,0xC0);
     darwin.mm_get_num_servos(&num_v1_servos,&num_v2_servos);
     std::cout << "Found " << num_v1_servos << " v1 servos and " << num_v2_servos << " v2 servos" << std::endl;
     darwin.mm_enable_power();

src/examples/darwin_joint_motion_test.cpp

@@ -12,7 +12,7 @@ int main(int argc, char *argv[])
   std::vector<double> angles,speeds,accels;
 
   try{
-    CDarwin_Robot darwin("Darwin",robot_device,1000000,0xC0);
+    CDarwinRobot darwin("Darwin",robot_device,1000000,0xC0);
     darwin.mm_get_num_servos(&num_v1_servos,&num_v2_servos);
     std::cout << "Found " << num_v1_servos << " v1 servos and " << num_v2_servos << " v2 servos" << std::endl;
     darwin.mm_enable_power();

src/examples/darwin_robot_test.cpp

@@ -13,7 +13,7 @@ int main(int argc, char *argv[])
   std::vector<double> angles,speeds,accels;
 
   try{
-    CDarwin_Robot darwin("Darwin",robot_device,1000000,0xC0);
+    CDarwinRobot darwin("Darwin",robot_device,1000000,0xC0);
     darwin.mm_load_config(config_file);
     darwin.mm_get_num_servos(&num_v1_servos,&num_v2_servos);
     std::cout << "Found " << num_v1_servos << " v1 servos and " << num_v2_servos << " v2 servos" << std::endl;