DYNAMIXEL SDK

https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/
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### DXL Monitor Example Setup

Source: https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/sample_code/c_dxl_monitor

This C code sets up the DXL Monitor example, including necessary includes, defines, and platform-specific functions for character input.

```c
#ifdef __linux__
#include <unistd.h>
#include <fcntl.h>
#include <getopt.h>
#include <termios.h>
#elif defined(_WIN32) || defined(_WIN64)
#include <conio.h>
#endif

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "dynamixel_sdk.h"                                   // Uses DYNAMIXEL SDK library

// Protocol version
#define PROTOCOL_VERSION1               1.0                 // See which protocol version is used in the Dynamixel
#define PROTOCOL_VERSION2               2.0

// Default setting
#define DEVICENAME                      "/dev/ttyUSB0"      // Check which port is being used on your controller
                                                            // ex) Windows: "COM1"   Linux: "/dev/ttyUSB0"

int getch()
{
#ifdef __linux__
  struct termios oldt, newt;
  int ch;
  tcgetattr(STDIN_FILENO, &oldt);
  newt = oldt;
  newt.c_lflag &= ~(ICANON | ECHO);
  tcsetattr(STDIN_FILENO, TCSANOW, &newt);
  ch = getchar();
  tcsetattr(STDIN_FILENO, TCSANOW, &oldt);
  return ch;
#elif defined(_WIN32) || defined(_WIN64)
  return _getch();
#endif
}

int kbhit(void)
{
#ifdef __linux__
  struct termios oldt, newt;
  int ch;
  int oldf;

  tcgetattr(STDIN_FILENO, &oldt);
  newt = oldt;
  newt.c_lflag &= ~(ICANON | ECHO);
  tcsetattr(STDIN_FILENO, TCSANOW, &newt);
  oldf = fcntl(STDIN_FILENO, F_GETFL, 0);
  fcntl(STDIN_FILENO, F_SETFL, oldf | O_NONBLOCK);

  ch = getchar();

  tcsetattr(STDIN_FILENO, TCSANOW, &oldt);
  fcntl(STDIN_FILENO, F_SETFL, oldf);

  if (ch != EOF)
  {
    ungetc(ch, stdin);
    return 1;
  }

  return 0;
#elif defined(_WIN32) || defined(_WIN64)
  return _kbhit();
#endif
}

void usage(char *progname)
{
  printf("-----------------------------------------------------------------------\\n");
  printf("usage: %s\n" \
         " [-h | --help]........: display this help\\n" \
         " [-d | --device]......: port to open                                   \\n" \
         , progname);
  printf("-----------------------------------------------------------------------\\n");
}

```

--------------------------------

### DXL Monitor Example Setup

Source: https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/sample_code/cpp_dxl_monitor

Includes necessary headers for Linux/Windows and DYNAMIXEL SDK. Defines protocol versions and default device name. Provides platform-specific getch and kbhit functions for keyboard input.

```cpp
#ifdef __linux__
#include <unistd.h>
#include <fcntl.h>
#include <getopt.h>
#include <termios.h>
#elif defined(_WIN32) || defined(_WIN64)
#include <conio.h>
#endif

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <vector>

#include "dynamixel_sdk.h"                                  // Uses DYNAMIXEL SDK library

// Protocol version
#define PROTOCOL_VERSION1               1.0                 // See which protocol version is used in the Dynamixel
#define PROTOCOL_VERSION2               2.0

// Default setting
#define DEVICENAME                      "/dev/ttyUSB0"      // Check which port is being used on your controller
                                                            // ex) Windows: "COM1"   Linux: "/dev/ttyUSB0"

int getch()
{
#ifdef __linux__
  struct termios oldt, newt;
  int ch;
  tcgetattr(STDIN_FILENO, &oldt);
  newt = oldt;
  newt.c_lflag &= ~(ICANON | ECHO);
  tcsetattr(STDIN_FILENO, TCSANOW, &newt);
  ch = getchar();
  tcsetattr(STDIN_FILENO, TCSANOW, &oldt);
  return ch;
#elif defined(_WIN32) || defined(_WIN64)
  return _getch();
#endif
}

int kbhit(void)
{
#ifdef __linux__
  struct termios oldt, newt;
  int ch;
  int oldf;

  tcgetattr(STDIN_FILENO, &oldt);
  newt = oldt;
  newt.c_lflag &= ~(ICANON | ECHO);
  tcsetattr(STDIN_FILENO, TCSANOW, &newt);
  oldf = fcntl(STDIN_FILENO, F_GETFL, 0);
  fcntl(STDIN_FILENO, F_SETFL, oldf | O_NONBLOCK);

  ch = getchar();

  tcsetattr(STDIN_FILENO, TCSANOW, &oldt);
  fcntl(STDIN_FILENO, F_SETFL, oldf);

  if (ch != EOF)
  {
    ungetc(ch, stdin);
    return 1;
  }

  return 0;
#elif defined(_WIN32) || defined(_WIN64)
  return _kbhit();
#endif
}

void Usage(char *progname)
{
  printf("-----------------------------------------------------------------------\\n");
  printf("Usage: %s\\n");
  printf(" [-h | --help]........: display this help\\n");
  printf("[-d | --device]......: port to open\\n", progname);
  printf("-----------------------------------------------------------------------\\n");
}

```

--------------------------------

### Dynamixel SDK Initialization and Ping Example

Source: https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/sample_code/csharp_ping_protocol_2_0

Initializes the Dynamixel SDK, opens a port, sets the baud rate, pings a Dynamixel device to get its model number, and prints the results. Handles potential communication errors.

```csharp
static void Main(string[] args)
{
  // Initialize PortHandler Structs
  // Set the port path
  // Get methods and members of PortHandlerLinux or PortHandlerWindows
  int port_num = dynamixel.portHandler(DEVICENAME);

  // Initialize PacketHandler Structs
  dynamixel.packetHandler();

  int dxl_comm_result = COMM_TX_FAIL;                                   // Communication result

  byte dxl_error = 0;                                                   // Dynamixel error
  UInt16 dxl_model_number;                                              // Dynamixel model number

  // Open port
  if (dynamixel.openPort(port_num))
  {
    Console.WriteLine("Succeeded to open the port!");
  }
  else
  {
    Console.WriteLine("Failed to open the port!");
    Console.WriteLine("Press any key to terminate...");
    Console.ReadKey();
    return;
  }

  // Set port baudrate
  if (dynamixel.setBaudRate(port_num, BAUDRATE))
  {
    Console.WriteLine("Succeeded to change the baudrate!");
  }
  else
  {
    Console.WriteLine("Failed to change the baudrate!");
    Console.WriteLine("Press any key to terminate...");
    Console.ReadKey();
    return;
  }

  // Try to ping the Dynamixel
  // Get Dynamixel model number
  dxl_model_number = dynamixel.pingGetModelNum(port_num, PROTOCOL_VERSION, DXL_ID);
  if ((dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
  {
    dynamixel.printTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
  }
  else if ((dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
  {
    dynamixel.printRxPacketError(PROTOCOL_VERSION, dxl_error);
  }

  Console.WriteLine("[ID: {0}] ping Succeeded. Dynamixel model number : {1}", DXL_ID, dxl_model_number);

  // Close port
  dynamixel.closePort(port_num);

  return;
}
```

--------------------------------

### Import Dynamixel SDK Functions and Setup Input Handling

Source: https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/sample_code/python_bulk_read_write_protocol_2_0

This code sets up the necessary environment for running Dynamixel SDK examples in Python. It includes path configuration and platform-specific input handling for controlling example execution.

```python
import os, sys, ctypes

if os.name == 'nt':
    import msvcrt
    def getch():
        return msvcrt.getch().decode()
else:
    import tty, termios
    fd = sys.stdin.fileno()
    old_settings = termios.tcgetattr(fd)
    tty.setraw(sys.stdin.fileno())
    def getch():
        return sys.stdin.read(1)

os.sys.path.append('../dynamixel_functions_py')             # Path setting

import dynamixel_functions as dynamixel                     # Uses DYNAMIXEL SDK library
```

--------------------------------

### Bulk Read and Write Example Setup

Source: https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/sample_code/c_bulk_read_write_protocol_2_0

This C code sets up the necessary components for bulk read and write operations with Dynamixel servos using Protocol 2.0. It includes definitions for control table addresses, data lengths, protocol version, and default settings for Dynamixel IDs, baudrate, and device name. It also provides utility functions for keyboard input detection.

```c
#ifdef __linux__
#include <unistd.h>
#include <fcntl.h>
#include <termios.h>
#elif defined(_WIN32) || defined(_WIN64)
#include <conio.h>
#endif

#include <stdlib.h>
#include <stdio.h>
#include "dynamixel_sdk.h"                                   // Uses DYNAMIXEL SDK library

// Control table address
#define ADDR_PRO_TORQUE_ENABLE          562                 // Control table address is different in Dynamixel model
#define ADDR_PRO_LED_RED                563
#define ADDR_PRO_GOAL_POSITION          596
#define ADDR_PRO_PRESENT_POSITION       611

// Data Byte Length
#define LEN_PRO_LED_RED                 1
#define LEN_PRO_GOAL_POSITION           4
#define LEN_PRO_PRESENT_POSITION        4

// Protocol version
#define PROTOCOL_VERSION                2.0                 // See which protocol version is used in the Dynamixel

// Default setting
#define DXL1_ID                         1                   // Dynamixel#1 ID: 1
#define DXL2_ID                         2                   // Dynamixel#2 ID: 2
#define BAUDRATE                        1000000
#define DEVICENAME                      "/dev/ttyUSB0"      // Check which port is being used on your controller
                                                            // ex) Windows: "COM1"   Linux: "/dev/ttyUSB0"

#define TORQUE_ENABLE                   1                   // Value for enabling the torque
#define TORQUE_DISABLE                  0                   // Value for disabling the torque
#define DXL_MINIMUM_POSITION_VALUE      -150000             // Dynamixel will rotate between this value
#define DXL_MAXIMUM_POSITION_VALUE      150000              // and this value (note that the Dynamixel would not move when the position value is out of movable range. Check e-manual about the range of the Dynamixel you use.)
#define DXL_MOVING_STATUS_THRESHOLD     20                  // Dynamixel moving status threshold

#define ESC_ASCII_VALUE                 0x1b

int getch()
{
#ifdef __linux__
  struct termios oldt, newt;
  int ch;
  tcgetattr(STDIN_FILENO, &oldt);
  newt = oldt;
  newt.c_lflag &= ~(ICANON | ECHO);
  tcsetattr(STDIN_FILENO, TCSANOW, &newt);
  ch = getchar();
  tcsetattr(STDIN_FILENO, TCSANOW, &oldt);
  return ch;
#elif defined(_WIN32) || defined(_WIN64)
  return _getch();
#endif
}

int kbhit(void)
{
#ifdef __linux__
  struct termios oldt, newt;
  int ch;
  int oldf;

  tcgetattr(STDIN_FILENO, &oldt);
  newt = oldt;
  newt.c_lflag &= ~(ICANON | ECHO);
  tcsetattr(STDIN_FILENO, TCSANOW, &newt);
  oldf = fcntl(STDIN_FILENO, F_GETFL, 0);
  fcntl(STDIN_FILENO, F_SETFL, oldf | O_NONBLOCK);

  ch = getchar();

  tcsetattr(STDIN_FILENO, TCSANOW, &oldt);
  fcntl(STDIN_FILENO, F_SETFL, oldf);

  if (ch != EOF)
  {
    ungetc(ch, stdin);
    return 1;
  }

  return 0;
#elif defined(_WIN32) || defined(_WIN64)
  return _kbhit();
#endif
}

int main()
{
  // Initialize PortHandler Structs
  // Set the port path
  // Get methods and members of PortHandlerLinux or PortHandlerWindows
  int port_num = portHandler(DEVICENAME);

  // Initialize PacketHandler Structs
  packetHandler();

  // Initialize groupBulkWrite Struct
  int groupwrite_num = groupBulkWrite(port_num, PROTOCOL_VERSION);
  //groupBulkWrite groupBulkWrite(portHandler, packetHandler);

  // Initialize Groupbulkread Struct
  int groupread_num = groupBulkRead(port_num, PROTOCOL_VERSION);

  int index = 0;
  int dxl_comm_result = COMM_TX_FAIL;             // Communication result
  uint8_t dxl_addparam_result = False;               // AddParam result
  uint8_t dxl_getdata_result = False;                // GetParam result
  int dxl_goal_position[2] = { DXL_MINIMUM_POSITION_VALUE, DXL_MAXIMUM_POSITION_VALUE };         // Goal position

  uint8_t dxl_error = 0;                          // Dynamixel error
  uint8_t dxl_led_value[2] = { 0x00, 0xFF };      // Dynamixel LED value for write
  int32_t dxl1_present_position = 0;              // Present position
  uint8_t dxl2_led_value_read;                    // Dynamixel LED value for read

  // Open port
  if (openPort(port_num))
  {
    printf("Succeeded to open the port!\n");
  }
  else
  {
    printf("Failed to open the port!\n");
    printf("Press any key to terminate...\n");
    getch();
    return 0;
  }

```

--------------------------------

### Dynamixel Ping Example (Protocol 1.0)

Source: https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/sample_code/cpp_ping_protocol_1_0

This C++ example demonstrates how to initialize the Dynamixel SDK, open a serial port, set the baud rate, ping a Dynamixel motor to get its model number, and handle communication results. It's designed for Protocol 1.0.

```c++
/*
 * ping.cpp
 *
 *  Created on: 2016. 2. 21.
 *      Author: leon
 */

//
// *********     ping Example      *********
//
//
// Available Dynamixel model on this example : All models using Protocol 1.0
// This example is designed for using a Dynamixel MX-28, and an USB2DYNAMIXEL.
// To use another Dynamixel model, such as X series, see their details in E-Manual(support.robotis.com) and edit below "#define"d variables yourself.
// Be sure that Dynamixel MX properties are already set as %% ID : 1 / Baudnum : 1 (Baudrate : 1000000 [1M])
//

#ifdef __linux__
#include <unistd.h>
#include <fcntl.h>
#include <termios.h>
#elif defined(_WIN32) || defined(_WIN64)
#include <conio.h>
#endif

#include <stdio.h>
#include "dynamixel_sdk.h"                                   // Uses DYNAMIXEL SDK library

// Protocol version
#define PROTOCOL_VERSION                1.0                 // See which protocol version is used in the Dynamixel

// Default setting
#define DXL_ID                          1                   // Dynamixel ID: 1
#define BAUDRATE                        1000000
#define DEVICENAME                      "/dev/ttyUSB0"      // Check which port is being used on your controller
                                                            // ex) Windows: "COM1"   Linux: "/dev/ttyUSB0"

int getch()
{
#ifdef __linux__
  struct termios oldt, newt;
  int ch;
  tcgetattr(STDIN_FILENO, &oldt);
  newt = oldt;
  newt.c_lflag &= ~(ICANON | ECHO);
  tcsetattr(STDIN_FILENO, TCSANOW, &newt);
  ch = getchar();
  tcsetattr(STDIN_FILENO, TCSANOW, &oldt);
  return ch;
#elif defined(_WIN32) || defined(_WIN64)
  return _getch();
#endif
}

int kbhit(void)
{
#ifdef __linux__
  struct termios oldt, newt;
  int ch;
  int oldf;

  tcgetattr(STDIN_FILENO, &oldt);
  newt = oldt;
  newt.c_lflag &= ~(ICANON | ECHO);
  tcsetattr(STDIN_FILENO, TCSANOW, &newt);
  oldf = fcntl(STDIN_FILENO, F_GETFL, 0);
  fcntl(STDIN_FILENO, F_SETFL, oldf | O_NONBLOCK);

  ch = getchar();

  tcsetattr(STDIN_FILENO, TCSANOW, &oldt);
  fcntl(STDIN_FILENO, F_SETFL, oldf);

  if (ch != EOF)
  {
    ungetc(ch, stdin);
    return 1;
  }

  return 0;
#elif defined(_WIN32) || defined(_WIN64)
  return _kbhit();
#endif
}

int main()
{
  // Initialize PortHandler instance
  // Set the port path
  // Get methods and members of PortHandlerLinux or PortHandlerWindows
  dynamixel::PortHandler *portHandler = dynamixel::PortHandler::getPortHandler(DEVICENAME);

  // Initialize PacketHandler instance
  // Set the protocol version
  // Get methods and members of Protocol1PacketHandler or Protocol2PacketHandler
  dynamixel::PacketHandler *packetHandler = dynamixel::PacketHandler::getPacketHandler(PROTOCOL_VERSION);

  int dxl_comm_result = COMM_TX_FAIL;             // Communication result

  uint8_t dxl_error = 0;                          // Dynamixel error
  uint16_t dxl_model_number;                      // Dynamixel model number

  // Open port
  if (portHandler->openPort())
  {
    printf("Succeeded to open the port!\n");
  }
  else
  {
    printf("Failed to open the port!\n");
    printf("Press any key to terminate...\n");
    getch();
    return 0;
  }

  // Set port baudrate
  if (portHandler->setBaudRate(BAUDRATE))
  {
    printf("Succeeded to change the baudrate!\n");
  }
  else
  {
    printf("Failed to change the baudrate!\n");
    printf("Press any key to terminate...\n");
    getch();
    return 0;
  }

  // Try to ping the Dynamixel
  // Get Dynamixel model number
  dxl_comm_result = packetHandler->ping(portHandler, DXL_ID, &dxl_model_number, &dxl_error);
  if (dxl_comm_result != COMM_SUCCESS)
  {
    packetHandler->printTxRxResult(dxl_comm_result);
  }
  else if (dxl_error != 0)
  {
    packetHandler->printRxPacketError(dxl_error);
  }

  printf("[ID:%03d] ping Succeeded. Dynamixel model number : %d\n", DXL_ID, dxl_model_number);

  // Close port
  portHandler->closePort();

  return 0;
}
```

--------------------------------

### Run Protocol 1.0 Example

Source: https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/library_setup/c

Execute the compiled read_write example program for Protocol 1.0.

```bash
$ ./read_write
```

--------------------------------

### C Protocol Combined Example Setup

Source: https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/sample_code/c_protocol_combined

This snippet includes necessary headers, defines control table addresses for MX and PRO models, sets protocol versions, and defines default parameters like ID, baudrate, and device name. It also includes platform-specific functions for character input.

```c
#ifdef __linux__
#include <unistd.h>
#include <fcntl.h>
#include <termios.h>
#elif defined(_WIN32) || defined(_WIN64)
#include <conio.h>
#endif

#include <stdlib.h>
#include <stdio.h>
#include "dynamixel_sdk.h"                                   // Uses DYNAMIXEL SDK library

// Control table address for Dynamixel MX
#define ADDR_MX_TORQUE_ENABLE           24                  // Control table address is different in Dynamixel model
#define ADDR_MX_GOAL_POSITION           30
#define ADDR_MX_PRESENT_POSITION        36

// Control table address for Dynamixel PRO
#define ADDR_PRO_TORQUE_ENABLE          562
#define ADDR_PRO_GOAL_POSITION          596
#define ADDR_PRO_PRESENT_POSITION       611

// Protocol version
#define PROTOCOL_VERSION1               1.0                 // See which protocol version is used in the Dynamixel
#define PROTOCOL_VERSION2               2.0

// Default setting
#define DXL1_ID                         1                   // Dynamixel#1 ID: 1
#define DXL2_ID                         2                   // Dynamixel#2 ID: 2
#define BAUDRATE                        1000000
#define DEVICENAME                      "/dev/ttyUSB0"      // Check which port is being used on your controller
                                                            // ex) Windows: "COM1"   Linux: "/dev/ttyUSB0"

#define TORQUE_ENABLE                   1                   // Value for enabling the torque
#define TORQUE_DISABLE                  0                   // Value for disabling the torque
#define DXL1_MINIMUM_POSITION_VALUE     100                 // Dynamixel will rotate between this value
#define DXL1_MAXIMUM_POSITION_VALUE     4000                // and this value (note that the Dynamixel would not move when the position value is out of movable range. Check e-manual about the range of the Dynamixel you use.)
#define DXL2_MINIMUM_POSITION_VALUE     -150000
#define DXL2_MAXIMUM_POSITION_VALUE     150000
#define DXL1_MOVING_STATUS_THRESHOLD    10                  // Dynamixel MX moving status threshold
#define DXL2_MOVING_STATUS_THRESHOLD    20                  // Dynamixel PRO moving status threshold

#define ESC_ASCII_VALUE                 0x1b

int getch()
{
#ifdef __linux__
  struct termios oldt, newt;
  int ch;
  tcgetattr(STDIN_FILENO, &oldt);
  newt = oldt;
  newt.c_lflag &= ~(ICANON | ECHO);
  tcsetattr(STDIN_FILENO, TCSANOW, &newt);
  ch = getchar();
  tcsetattr(STDIN_FILENO, TCSANOW, &oldt);
  return ch;
#elif defined(_WIN32) || defined(_WIN64)
  return _getch();
#endif
}

int kbhit(void)
{
#ifdef __linux__
  struct termios oldt, newt;
  int ch;
  int oldf;

  tcgetattr(STDIN_FILENO, &oldt);
  newt = oldt;
  newt.c_lflag &= ~(ICANON | ECHO);
  tcsetattr(STDIN_FILENO, TCSANOW, &newt);
  oldf = fcntl(STDIN_FILENO, F_GETFL, 0);
  fcntl(STDIN_FILENO, F_SETFL, oldf | O_NONBLOCK);

  ch = getchar();

  tcsetattr(STDIN_FILENO, TCSANOW, &oldt);
  fcntl(STDIN_FILENO, F_SETFL, oldf);

  if (ch != EOF)
  {
    ungetc(ch, stdin);
    return 1;
  }

  return 0;
#elif defined(_WIN32) || defined(_WIN64)
  return _kbhit();
#endif
}

int main()
{
  // Initialize PortHandler Structs
  // Set the port path
  // Get methods and members of PortHandlerLinux or PortHandlerWindows
  int port_num = portHandler(DEVICENAME);

  // Initialize PacketHandler Structs
  packetHandler();

  int index = 0;
  int dxl_comm_result = COMM_TX_FAIL;             // Communication result
  int dxl1_goal_position[2] = {DXL1_MINIMUM_POSITION_VALUE, DXL1_MAXIMUM_POSITION_VALUE};         // Goal position of Dynamixel MX
  int dxl2_goal_position[2] = {DXL2_MINIMUM_POSITION_VALUE, DXL2_MAXIMUM_POSITION_VALUE};         // Goal position of Dynamixel PRO

```

--------------------------------

### Build and Install DYNAMIXEL SDK

Source: https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/library_setup/c

Navigate to the appropriate build directory based on your system architecture and use 'make install' to compile and install the DYNAMIXEL SDK library.

```bash
$ cd DynamixelSDK/c/build/linux64 # for 64-bit systems
$ sudo make install

```

--------------------------------

### Dynamixel Ping Example (Protocol 1.0)

Source: https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/sample_code/cpp_ping_protocol_1_0

Demonstrates how to initialize the PortHandler and PacketHandler for Protocol 1.0, open a serial port, set the baudrate, and ping a Dynamixel to get its model number. This is a fundamental step for device communication.

```c++
int main()
{
  // Initialize PortHandler instance
  // Set the port path
  // Get methods and members of PortHandlerLinux or PortHandlerWindows
  dynamixel::PortHandler *portHandler = dynamixel::PortHandler::getPortHandler(DEVICENAME);

  // Initialize PacketHandler instance
  // Set the protocol version
  // Get methods and members of Protocol1PacketHandler or Protocol2PacketHandler
  dynamixel::PacketHandler *packetHandler = dynamixel::PacketHandler::getPacketHandler(PROTOCOL_VERSION);

  int dxl_comm_result = COMM_TX_FAIL;             // Communication result

  uint8_t dxl_error = 0;                          // Dynamixel error
  uint16_t dxl_model_number;                      // Dynamixel model number

  // Open port
  if (portHandler->openPort())
  {
    printf("Succeeded to open the port!\n");
  }
  else
  {
    printf("Failed to open the port!\n");
    printf("Press any key to terminate...\n");
    getch();
    return 0;
  }

  // Set port baudrate
  if (portHandler->setBaudRate(BAUDRATE))
  {
    printf("Succeeded to change the baudrate!\n");
  }
  else
  {
    printf("Failed to change the baudrate!\n");
    printf("Press any key to terminate...\n");
    getch();
    return 0;
  }

  // Try to ping the Dynamixel
  // Get Dynamixel model number
  dxl_comm_result = packetHandler->ping(portHandler, DXL_ID, &dxl_model_number, &dxl_error);
  if (dxl_comm_result != COMM_SUCCESS)
  {
    packetHandler->printTxRxResult(dxl_comm_result);
  }
  else if (dxl_error != 0)
  {
    packetHandler->printRxPacketError(dxl_error);
  }

  printf("[ID:%03d] ping Succeeded. Dynamixel model number : %d\n", DXL_ID, dxl_model_number);

  // Close port
  portHandler->closePort();

  return 0;
}

```

--------------------------------

### Dynamixel Factory Reset and Baud Rate Change Example (C)

Source: https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/sample_code/c_reset_protocol_2_0

This comprehensive example demonstrates the full process of resetting a Dynamixel motor to factory defaults and then changing its baud rate. It covers port initialization, baud rate setting, factory reset execution, reading and writing the baud rate register, and port closure. Ensure the DEVICENAME, BAUDRATE, DXL_ID, OPERATION_MODE, PROTOCOL_VERSION, FACTORYRST_DEFAULTBAUDRATE, and NEW_BAUDNUM are correctly defined for your setup.

```c
int main()
{
  // Initialize PortHandler Structs
  // Set the port path
  // Get methods and members of PortHandlerLinux or PortHandlerWindows
  int port_num = portHandler(DEVICENAME);

  // Initialize PacketHandler Structs
  packetHandler();

  int dxl_comm_result = COMM_TX_FAIL;             // Communication result

  uint8_t dxl_error = 0;                          // Dynamixel error
  uint8_t dxl_baudnum_read;                       // Read baudnum

  // Open port
  if (openPort(port_num))
  {
    printf("Succeeded to open the port!\n");
  }
  else
  {
    printf("Failed to open the port!\n");
    printf("Press any key to terminate...\n");
    getch();
    return 0;
  }

  // Set port baudrate
  if (setBaudRate(port_num, BAUDRATE))
  {
    printf("Succeeded to change the baudrate!\n");
  }
  else
  {
    printf("Failed to change the baudrate!\n");
    printf("Press any key to terminate...\n");
    getch();
    return 0;
  }

  // Read present baudrate of the controller
  printf("Now the controller baudrate is : %d\n", getBaudRate(port_num));

  // Try factoryreset
  printf("[ID:%03d] Try factoryreset : ", DXL_ID);
  factoryReset(port_num, PROTOCOL_VERSION, DXL_ID, OPERATION_MODE);
  if ((dxl_comm_result = getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
  {
    printf("Aborted\n");
    printTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
    return 0;
  }
  else if ((dxl_error = getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
  {
    printRxPacketError(PROTOCOL_VERSION, dxl_error);
  }

  // Wait for reset
  printf("Wait for reset...\n");
  msecSleep(2000);

  printf("[ID:%03d] factoryReset Success!\n", DXL_ID);

  // Set controller baudrate to Dynamixel default baudrate
  if (setBaudRate(port_num, FACTORYRST_DEFAULTBAUDRATE))
  {
    printf("Succeed to change the controller baudrate to : %d\n", FACTORYRST_DEFAULTBAUDRATE);
  }
  else
  {
    printf("Failed to change the controller baudrate\n");
    printf("Press any key to terminate...\n");
    getch();
    return 0;
  }

  // Read Dynamixel baudnum
  dxl_baudnum_read = read1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_PRO_BAUDRATE);
  if ((dxl_comm_result = getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
  {
    printTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
  }
  else if ((dxl_error = getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
  {
    printRxPacketError(PROTOCOL_VERSION, dxl_error);
  }
  else
  {
    printf("[ID:%03d] DXL baudnum is now : %d\n", DXL_ID, dxl_baudnum_read);
  }

  // Write new baudnum
  write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_PRO_BAUDRATE, NEW_BAUDNUM);
  if ((dxl_comm_result = getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
  {
    printTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
  }
  else if ((dxl_error = getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
  {
    printRxPacketError(PROTOCOL_VERSION, dxl_error);
  }
  else
  {
    printf("[ID:%03d] Set Dynamixel baudnum to : %d\n", DXL_ID, NEW_BAUDNUM);
  }

  // Set port baudrate to BAUDRATE
  if (setBaudRate(port_num, BAUDRATE))
  {
    printf("Succeed to change the controller baudrate to : %d\n", BAUDRATE);
  }
  else
  {
    printf("Failed to change the controller baudrate\n");
    printf("Press any key to terminate...\n");
    getch();
    return 0;
  }

  msecSleep(200);

  // Read Dynamixel baudnum
  dxl_baudnum_read = read1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_PRO_BAUDRATE);
  if ((dxl_comm_result = getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
  {
    printTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
  }
  else if ((dxl_error = getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
  {
    printRxPacketError(PROTOCOL_VERSION, dxl_error);
  }
  else
  {
    printf("[ID:%03d] Dynamixel Baudnum is now : %d\n", DXL_ID, dxl_baudnum_read);
  }

  // Close port
  closePort(port_num);

  return 0;
}

```

--------------------------------

### Java Broadcast Ping Example

Source: https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/sample_code/java_broadcast_ping_protocol_2_0

This example demonstrates how to initialize the Dynamixel SDK, open a serial port, set the baud rate, and perform a broadcast ping to discover connected Dynamixel devices. It then iterates through possible IDs to report detected devices. Ensure the correct device name and baud rate are configured for your setup.

```java
/*
 * BroadcastPing.java
 *
 *  Created on: 2016. 6. 23.
 *      Author: Ryu Woon Jung (Leon)
 */

//
// *********     BroadcastPing Example      *********
//
//
// Available Dynamixel model on this example : All models using Protocol 2.0
// This example is designed for using a Dynamixel PRO 54-200, and an USB2DYNAMIXEL.
// To use another Dynamixel model, such as X series, see their details in E-Manual(support.robotis.com) and edit below variables yourself.
// Be sure that Dynamixel PRO properties are already set as %% ID : 1 / Baudnum : 3 (Baudrate : 1000000 [1M])
//

import java.util.Scanner;

public class BroadcastPing
{
  public static void main(String[] args)
  {
    // Protocol version
    int PROTOCOL_VERSION                = 2;                   // See which protocol version is used in the Dynamixel

    // Default setting
    int BAUDRATE                        = 1000000;
    String DEVICENAME                   = "/dev/ttyUSB0";      // Check which port is being used on your controller
                                                                 // ex) "COM1"   Linux: "/dev/ttyUSB0"

    int MAX_ID                          = 252;                 // Maximum ID value
    int COMM_SUCCESS                    = 0;                   // Communication Success result value
    int COMM_TX_FAIL                    = -1001;               // Communication Tx Failed

    // Instead of getch
    Scanner scanner = new Scanner(System.in);

    // Initialize Dynamixel class for java
    Dynamixel dynamixel = new Dynamixel();

    // Initialize PortHandler Structs
    // Set the port path
    // Get methods and members of PortHandlerLinux or PortHandlerWindows
    int port_num = dynamixel.portHandler(DEVICENAME);

    // Initialize PacketHandler Structs
    dynamixel.packetHandler();

    int id;
    int dxl_comm_result = COMM_TX_FAIL;                       // Communication result

    // Open port
    if (dynamixel.openPort(port_num))
    {
      System.out.println("Succeeded to open the port!");
    }
    else
    {
      System.out.println("Failed to open the port!");
      System.out.println("Press any key to terminate...");
      scanner.nextLine();
      return;
    }

    // Set port baudrate
    if (dynamixel.setBaudRate(port_num, BAUDRATE))
    {
      System.out.println("Succeeded to change the baudrate!");
    }
    else
    {
      System.out.println("Failed to change the baudrate!");
      System.out.println("Press any key to terminate...");
      scanner.nextLine();
      return;
    }

    // Try to broadcast ping the Dynamixel
    dynamixel.broadcastPing(port_num, PROTOCOL_VERSION);
    if ((dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
      dynamixel.printTxRxResult(PROTOCOL_VERSION, dxl_comm_result);

    System.out.println("Detected Dynamixel הראש:");
    for (id = 0; id < MAX_ID; id++)
    {
      if (dynamixel.getBroadcastPingResult(port_num, PROTOCOL_VERSION, id))
        System.out.printf("[ID: %d]\n", id);
    }

    // Close port
    dynamixel.closePort(port_num);

    return;
  }
}
```

--------------------------------

### Build Example Code with CMake (Linux)

Source: https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/library_setup/cpp

Builds the example code for the Dynamixel SDK using CMake. The executable files will be generated in the 'build' folder within the example directory.

```bash
$ cd DynamixelSDK/c++/example/protocol2.0
$ sudo cmake -B build
$ sudo cmake --build build
$ cd build
$ ./broadcast_ping

```

--------------------------------

### MATLAB Ping Protocol 1.0 Example

Source: https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/sample_code/matlab_ping_protocol_1_0

This script pings a Dynamixel to get its model number using Protocol 1.0. It loads the necessary libraries, configures the serial port, and checks for communication success. Ensure the Dynamixel SDK is installed and the correct port name is used.

```matlab
% 
% ping.m
% 
%  Created on: 2016. 6. 7. 
%      Author: Ryu Woon Jung (Leon)
% 

% 
% *********     Ping Example      *********
% 
% 
% Available Dynamixel model on this example : All models using Protocol 1.0
% This example is designed for using a Dynamixel MX-28, and an USB2DYNAMIXEL.
% To use another Dynamixel model, such as X series, see their details in E-Manual(support.robotis.com) and edit below variables yourself.
% Be sure that Dynamixel MX properties are already set as %% ID : 1 / Baudnum : 1 (Baudrate : 1000000 [1M])
% 

clc;
clear all;

% Load Libraries
if ~libisloaded('dxl_x86_c');
    [notfound, warnings] = loadlibrary('dxl_x86_c', 'dynamixel_sdk.h', 'addheader', 'port_handler.h', 'addheader', 'packet_handler.h');
end

% Protocol version
PROTOCOL_VERSION                = 1.0;          % See which protocol version is used in the Dynamixel

% Default setting
DXL_ID                          = 1;            % Dynamixel ID: 1
BAUDRATE                        = 1000000;
DEVICENAME                      = 'COM1';       % Check which port is being used on your controller
                                                % ex) Windows: "COM1"   Linux: "/dev/ttyUSB0"

COMM_SUCCESS                    = 0;            % Communication Success result value
COMM_TX_FAIL                    = -1001;        % Communication Tx Failed

% Initialize PortHandler Structs
% Set the port path
% Get methods and members of PortHandlerLinux or PortHandlerWindows
port_num = portHandler(DEVICENAME);

% Initialize PacketHandler Structs
packetHandler();

dxl_comm_result = COMM_TX_FAIL;                 % Communication result

% Open port
if (openPort(port_num))
    fprintf('Succeeded to open the port!\n');
else
    unloadlibrary('dxl_x86_c');
    fprintf('Failed to open the port!\n');
    input('Press any key to terminate...\n');
    return;
end


% Set port baudrate
if (setBaudRate(port_num, BAUDRATE))
    fprintf('Succeeded to change the baudrate!\n');
else
    unloadlibrary('dxl_x86_c');
    fprintf('Failed to change the baudrate!\n');
    input('Press any key to terminate...\n');
    return;
end


% Try to ping the Dynamixel
% Get Dynamixel model number
dxl_model_number = pingGetModelNum(port_num, PROTOCOL_VERSION, DXL_ID);
if getLastTxRxResult(port_num, PROTOCOL_VERSION) ~= COMM_SUCCESS
    printTxRxResult(PROTOCOL_VERSION, getLastTxRxResult(port_num, PROTOCOL_VERSION));
elseif getLastRxPacketError(port_num, PROTOCOL_VERSION) ~= 0
    printRxPacketError(PROTOCOL_VERSION, getLastRxPacketError(port_num, PROTOCOL_VERSION));
end

fprintf('[ID:%03d] ping Succeeded. Dynamixel model number : %d\n', DXL_ID, dxl_model_number);


% Close port
closePort(port_num);

% Unload Library
unloadlibrary('dxl_x86_c');

close all;
clear all;

```

--------------------------------

### Get Time Since Start (Mac)

Source: https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/api_reference/c/c_porthandler

Retrieves the elapsed time since the start of an operation for a given port.

```c
double getTimeSinceStartMac(int port_num)
```

--------------------------------

### Navigate to Protocol 1.0 Example Directory (Linux)

Source: https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/library_setup/c

Change directory to the location of the Protocol 1.0 read_write example for Linux.

```bash
$ cd [DynamixelSDK folder]/c/example/protocol1.0/read_write/linux32
```

```bash
$ cd [DynamixelSDK folder]/c/example/protocol1.0/read_write/linux64
```

--------------------------------

### Get Time Since Start (Linux)

Source: https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/api_reference/c/c_porthandler

Retrieves the time elapsed since the program started on a Linux system. Requires the port number as input.

```c
double getTimeSinceStartLinux(int port_num)
```

--------------------------------

### Get Time Since Start on Windows

Source: https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/api_reference/c/c_porthandler

Retrieves the time elapsed since the start for a given port on Windows. Requires the port number as input.

```c
double getTimeSinceStartWindows(int port_num)
```

--------------------------------

### getTimeSinceStartMac

Source: https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/api_reference/c/c_porthandler

Gets the elapsed time since the start for a given port.

```APIDOC
## getTimeSinceStartMac

### Description
Gets the elapsed time since the start for a given port.

### Syntax
```c
double getTimeSinceStartMac(int port_num)
```

### Parameters
#### Path Parameters
- **port_num** (int) - Required - Port number

### Returns
- double - The time elapsed since the start.
```

--------------------------------

### getTimeSinceStartWindows

Source: https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/api_reference/c/c_porthandler

Gets the elapsed time since the system started on Windows.

```APIDOC
## getTimeSinceStartWindows

### Description
Gets the time elapsed since the system started.

### Method
(Not specified, likely a function call)

### Endpoint
(Not applicable for C API)

### Parameters
#### Path Parameters
None

#### Query Parameters
None

#### Request Body
None

### Parameters
None

### Request Example
```c
// Usage might involve passing a time structure to be filled
// Example is illustrative as exact usage is not detailed.
// getTimeSinceStartWindows(&time_struct);
```

### Response
#### Success Response (void)
This function does not return a value directly but likely fills a provided time structure.

#### Response Example
(No direct return value, depends on implementation details not provided)
```
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