DynamixelControl.java 文件源码

void connect(String destination) throws Exception {
    CommPortIdentifier portIdentifier = CommPortIdentifier.getPortIdentifier(destination);
    if (portIdentifier.isCurrentlyOwned()) {
        log.warning("Error: Port for Dynamixel-Communication is currently in use");
    } else {
        CommPort commPort = portIdentifier.open(this.getClass().getName(), 2000);
        if (commPort instanceof SerialPort) {
            SerialPort serialPort = (SerialPort) commPort;
            serialPort.setSerialPortParams(57142, SerialPort.DATABITS_8, SerialPort.STOPBITS_1, SerialPort.PARITY_NONE);
            in = serialPort.getInputStream();
            out = serialPort.getOutputStream();
            serialPort.addEventListener(new SerialReader(in));
            serialPort.notifyOnDataAvailable(true);
            log.info("Connected to Dynamixel!");
        } else {
            log.warning("Error: Cannot connect to Dynamixel!");
        }
    }
}