static void DynamixelEnableTorque(byte pID)
{
int Result;
byte Error;
DynamixelSDK.write1ByteTxRx(DynamixelPortNum, DYNAMIXEL_PROTOCOL_VERSION, pID, Dynamixel.Constants.ADDR_TORQUE_ENABLE, Dynamixel.Constants.TORQUE_ENABLE);
if ((Result = DynamixelSDK.getLastTxRxResult(DynamixelPortNum, DYNAMIXEL_PROTOCOL_VERSION)) != Dynamixel.Constants.COMM_SUCCESS)
{
throw new Exception(Marshal.PtrToStringAnsi(DynamixelSDK.getTxRxResult(DYNAMIXEL_PROTOCOL_VERSION, Result)));
}
else if ((Error = DynamixelSDK.getLastRxPacketError(DynamixelPortNum, DYNAMIXEL_PROTOCOL_VERSION)) != 0)
{
throw new Exception(Marshal.PtrToStringAnsi(DynamixelSDK.getRxPacketError(DYNAMIXEL_PROTOCOL_VERSION, Error)));
}
else
{
Console.WriteLine("Dynamixel " + pID + " has been successfully connected");
}
}
static void DynamixelEnableWheelMode(byte pID)
{
int Result;
byte Error;
DynamixelSDK.write2ByteTxRx(DynamixelPortNum, DYNAMIXEL_PROTOCOL_VERSION, pID, Dynamixel.Constants.ADDR_CCW_ANGLE_LIMIT_L, DynamixelWheelModeData);
if ((Result = DynamixelSDK.getLastTxRxResult(DynamixelPortNum, DYNAMIXEL_PROTOCOL_VERSION)) != Dynamixel.Constants.COMM_SUCCESS)
{
throw new Exception(Marshal.PtrToStringAnsi(DynamixelSDK.getTxRxResult(DYNAMIXEL_PROTOCOL_VERSION, Result)));
}
else if ((Error = DynamixelSDK.getLastRxPacketError(DynamixelPortNum, DYNAMIXEL_PROTOCOL_VERSION)) != 0)
{
throw new Exception(Marshal.PtrToStringAnsi(DynamixelSDK.getRxPacketError(DYNAMIXEL_PROTOCOL_VERSION, Error)));
}
else
{
Console.WriteLine("Dynamixel " + pID + " is in a wheel mode");
}
}