From 3b077d60db55b78ba8f28b7bc23c0bb03a018405 Mon Sep 17 00:00:00 2001 From: Sergi Hernandez Juan <shernand@iri.upc.edu> Date: Sat, 25 Jan 2020 08:34:20 +0100 Subject: [PATCH] Updated the text example file. --- dynamixel_manager/test/dyn_man_test.c | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/dynamixel_manager/test/dyn_man_test.c b/dynamixel_manager/test/dyn_man_test.c index b22b50d..db11313 100644 --- a/dynamixel_manager/test/dyn_man_test.c +++ b/dynamixel_manager/test/dyn_man_test.c @@ -281,6 +281,7 @@ int main(void) { int i; TMotionManager mmanager; + TActionMModule action; TTime dyn_master1_timer; TComm dyn_master1_comm; TTime dyn_master2_timer; @@ -296,14 +297,14 @@ int main(void) comm_init(&dyn_master2_comm,0x01,&dyn_master2_timer); dyn_master_init(&dyn_master2,&dyn_master2_comm,DYN_VER2); - dyn_manager_init(&manager,&memory,&scheduler,SCHED_CH1,0x0000,0x0064); + dyn_manager_init(&manager,&memory,&scheduler,SCHED_CH1,0,64); dyn_manager_set_period(&manager,14); dyn_manager_add_master(&manager,&dyn_master1); dyn_manager_add_master(&manager,&dyn_master2); // init modules mmanager_init(&mmanager,&memory,16,128); - action_init(); - mmanager_add_module(&mmanager,action_get_module()); + action_init(&action,&memory,256); + mmanager_add_module(&mmanager,action_get_module(&action)); dyn_manager_add_module(&manager,mmanager_get_dyn_module(&mmanager)); dyn_module_set_period(mmanager_get_dyn_module(&mmanager),1); dyn_module_enable(mmanager_get_dyn_module(&mmanager)); @@ -316,8 +317,8 @@ int main(void) mmanager_enable_servo(&mmanager,i); } /* load and start a page */ - if(action_load_page(7)) - action_start_page(); + if(action_load_page(&action,7)) + action_start_page(&action); for(i=0;i<100;i++) { -- GitLab