text: /*******************************************************************************
  * Copyright 2017 ROBOTIS CO., LTD.
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
  * You may obtain a copy of the License at
  *
  *     http://www.apache.org/licenses/LICENSE-2.0
  *
  * Unless required by applicable law or agreed to in writing, software
  * distributed under the License is distributed on an "AS IS" BASIS,
  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  * See the License for the specific language governing permissions and
  * limitations under the License.
  *******************************************************************************/
  
  /* Author: Ryu Woon Jung (Leon) */
  
  //
  // *********     Sync Read and Sync Write Example      *********
  //
  //
  // Available Dynamixel model on this example : All models using Protocol 2.0
  // This example is designed for using two 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 : 1 (Baudrate : 57600)
  //
  
  #if defined(__linux__) || defined(__APPLE__)
  #include <fcntl.h>
  #include <termios.h>
  #define STDIN_FILENO 0
  #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_GOAL_POSITION          596
  #define ADDR_PRO_PRESENT_POSITION       611
  
  // Data Byte Length
  #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                        57600
  #define DEVICENAME                      "/dev/ttyUSB0"      // Check which port is being used on your controller
                                                              // ex) Windows: "COM1"   Linux: "/dev/ttyUSB0" Mac: "/dev/tty.usbserial-*"
  
  #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()
  {
  #if defined(__linux__) || defined(__APPLE__)
    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)
  {
  #if defined(__linux__) || defined(__APPLE__)
    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 Groupsyncwrite Structs
    int groupwrite_num = groupSyncWrite(port_num, PROTOCOL_VERSION, ADDR_PRO_GOAL_POSITION, LEN_PRO_GOAL_POSITION);
  
    // Initialize Groupsyncread Structs for Present Position
    int groupread_num = groupSyncRead(port_num, PROTOCOL_VERSION, ADDR_PRO_PRESENT_POSITION, LEN_PRO_PRESENT_POSITION);
  
    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
    int32_t dxl1_present_position = 0, dxl2_present_position = 0;                           // Present position
  
    // 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;
    }
  
    // Enable Dynamixel#1 Torque
    write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL1_ID, ADDR_PRO_TORQUE_ENABLE, TORQUE_ENABLE);
    if ((dxl_comm_result = getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
    {
      printf("%s\n", getTxRxResult(PROTOCOL_VERSION, dxl_comm_result));
    }
    else if ((dxl_error = getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
    {
      printf("%s\n", getRxPacketError(PROTOCOL_VERSION, dxl_error));
    }
    else
    {
      printf("Dynamixel#%d has been successfully connected \n", DXL1_ID);
    }
  
    // Enable Dynamixel#2 Torque
    write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL2_ID, ADDR_PRO_TORQUE_ENABLE, TORQUE_ENABLE);
    if ((dxl_comm_result = getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
    {
      printf("%s\n", getTxRxResult(PROTOCOL_VERSION, dxl_comm_result));
    }
    else if ((dxl_error = getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
    {
      printf("%s\n", getRxPacketError(PROTOCOL_VERSION, dxl_error));
    }
    else
    {
      printf("Dynamixel#%d has been successfully connected \n", DXL2_ID);
    }
  
    // Add parameter storage for Dynamixel#1 present position value
    dxl_addparam_result = groupSyncReadAddParam(groupread_num, DXL1_ID);
    if (dxl_addparam_result != True)
    {
      fprintf(stderr, "[ID:%03d] groupSyncRead addparam failed", DXL1_ID);
      return 0;
    }
  
    // Add parameter storage for Dynamixel#2 present position value
    dxl_addparam_result = groupSyncReadAddParam(groupread_num, DXL2_ID);
    if (dxl_addparam_result != True)
    {
      fprintf(stderr, "[ID:%03d] groupSyncRead addparam failed", DXL2_ID);
      return 0;
    }
  
    while (1)
    {
      printf("Press any key to continue! (or press ESC to quit!)\n");
      if (getch() == ESC_ASCII_VALUE)
        break;
  
      // Add Dynamixel#1 goal position value to the Syncwrite storage
      dxl_addparam_result = groupSyncWriteAddParam(groupwrite_num, DXL1_ID, dxl_goal_position[index], LEN_PRO_GOAL_POSITION);
      if (dxl_addparam_result != True)
      {
        fprintf(stderr, "[ID:%03d] groupSyncWrite addparam failed", DXL1_ID);
        return 0;
      }
  
      // Add Dynamixel#2 goal position value to the Syncwrite parameter storage
      dxl_addparam_result = groupSyncWriteAddParam(groupwrite_num, DXL2_ID, dxl_goal_position[index], LEN_PRO_GOAL_POSITION);
      if (dxl_addparam_result != True)
      {
        fprintf(stderr, "[ID:%03d] groupSyncWrite addparam failed", DXL2_ID);
        return 0;
      }
  
      // Syncwrite goal position
      groupSyncWriteTxPacket(groupwrite_num);
      if ((dxl_comm_result = getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
        printf("%s\n", getTxRxResult(PROTOCOL_VERSION, dxl_comm_result));
  
      // Clear syncwrite parameter storage
      groupSyncWriteClearParam(groupwrite_num);
  
      do
      {
        // Syncread present position
        groupSyncReadTxRxPacket(groupread_num);
        if ((dxl_comm_result = getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
          printf("%s\n", getTxRxResult(PROTOCOL_VERSION, dxl_comm_result));
  
        // Check if groupsyncread data of Dynamixel#1 is available
        dxl_getdata_result = groupSyncReadIsAvailable(groupread_num, DXL1_ID, ADDR_PRO_PRESENT_POSITION, LEN_PRO_PRESENT_POSITION);
        if (dxl_getdata_result != True)
        {
          fprintf(stderr, "[ID:%03d] groupSyncRead getdata failed", DXL1_ID);
          return 0;
        }
  
        // Check if groupsyncread data of Dynamixel#2 is available
        dxl_getdata_result = groupSyncReadIsAvailable(groupread_num, DXL2_ID, ADDR_PRO_PRESENT_POSITION, LEN_PRO_PRESENT_POSITION);
        if (dxl_getdata_result != True)
        {
          fprintf(stderr, "[ID:%03d] groupSyncRead getdata failed", DXL2_ID);
          return 0;
        }
  
        // Get Dynamixel#1 present position value
        dxl1_present_position = groupSyncReadGetData(groupread_num, DXL1_ID, ADDR_PRO_PRESENT_POSITION, LEN_PRO_PRESENT_POSITION);
  
        // Get Dynamixel#2 present position value
        dxl2_present_position = groupSyncReadGetData(groupread_num, DXL2_ID, ADDR_PRO_PRESENT_POSITION, LEN_PRO_PRESENT_POSITION);
  
        printf("[ID:%03d] GoalPos:%03d  PresPos:%03d\t[ID:%03d] GoalPos:%03d  PresPos:%03d\n", DXL1_ID, dxl_goal_position[index], dxl1_present_position, DXL2_ID, dxl_goal_position[index], dxl2_present_position);
  
      } while ((abs(dxl_goal_position[index] - dxl1_present_position) > DXL_MOVING_STATUS_THRESHOLD) || (abs(dxl_goal_position[index] - dxl2_present_position) > DXL_MOVING_STATUS_THRESHOLD));
  
      // Change goal position
      if (index == 0)
      {
        index = 1;
      }
      else
      {
        index = 0;
      }
    }
  
    // Disable Dynamixel#1 Torque
    write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL1_ID, ADDR_PRO_TORQUE_ENABLE, TORQUE_DISABLE);
    if ((dxl_comm_result = getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
    {
      printf("%s\n", getTxRxResult(PROTOCOL_VERSION, dxl_comm_result));
    }
    else if ((dxl_error = getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
    {
      printf("%s\n", getRxPacketError(PROTOCOL_VERSION, dxl_error));
    }
  
    // Disable Dynamixel#2 Torque
    write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL2_ID, ADDR_PRO_TORQUE_ENABLE, TORQUE_DISABLE);
    if ((dxl_comm_result = getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
    {
      printf("%s\n", getTxRxResult(PROTOCOL_VERSION, dxl_comm_result));
    }
    else if ((dxl_error = getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
    {
      printf("%s\n", getRxPacketError(PROTOCOL_VERSION, dxl_error));
    }
  
    // Close port
    closePort(port_num);
  
    return 0;
  }
  