Added an example for the open loop control of a group

src/examples/test_dynamixel_motor_group_open_loop.cpp

+#include "dynamixelexceptions.h"
+#include "dynamixelserver.h"
+#include "eventserver.h"
+#include "exceptions.h"
+#include "dynamixel_motor_group.h"
+#include "dynamixel_motor.h"
+#include <iostream>
+#include <math.h>
+
+std::string cont1_name="AX-12+_1";
+std::string cont2_name="AX-12+_2";
+std::string cont3_name="AX-12+_3";
+std::string cont4_name="AX-12+_4";
+std::string group_name="GROUP1";
+
+int main(int argc, char *argv[])
+{
+  CDynamixelServer *dyn_server=CDynamixelServer::instance();
+  std::vector<float> pos(2),vel(2),acc(2);
+  CDynamixelMotor *cont1,*cont2,*cont3,*cont4;
+  CDynamixelMotorGroup *group;
+  int dir=1,i=0;
+
+  try{
+    if(dyn_server->get_num_buses()>0)
+    {
+      cont1=new CDynamixelMotor(cont1_name,0,1000000,21);
+      cont2=new CDynamixelMotor(cont2_name,0,1000000,11);
+      cont1->set_compliance_slope(254,254);
+      cont1->set_punch(4);
+      cont1->set_compliance_margin(1,1);
+      cont2->set_compliance_slope(254,254);
+      cont2->set_punch(16);
+      cont2->set_compliance_margin(1,1);
+
+      group=new CDynamixelMotorGroup(group_name);
+      group->add_motor_control(cont1);
+      group->add_motor_control(cont2);
+      group->use_open_loop_control();
+      pos[0]=512;
+      pos[1]=512;
+      group->move(pos,vel,acc);
+      sleep(5);
+      for(;;)
+      {
+        std::cout << pos[0] << std::endl;
+	if(pos[0]>=700)
+	  dir=-1;
+	else if(pos[0]<=300)
+	  dir=1;	  
+	for(i=0;i<pos.size();i++)
+	{
+	  pos[i]+=5*dir;      
+	}
+	group->move(pos,vel,acc);
+	usleep(20000);
+      }
+    }
+  }catch(CException &e){
+    std::cout << e.what() << std::endl;
+  }
+}
+
+