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C Language Example : Dinamixel access with Atmega128 /* * The Example of Dynamixel Evaluation with Atmega128 * Date : 2005.5.11 * Author : BS KIM */ /* * included files */ #define ENABLE_BIT_DEFINITIONS //#include io.h #include inttypes.h #include avr/io.h #include avr/interrupt.h #include avr/signal.h #define cbi(REG8,BITNUM) REG8 = ~(_BV(BITNUM)) #define sbi(REG8,BITNUM) REG8 |= _BV(BITNUM) typedef unsigned char byte; typedef unsigned int word; #define ON 1 #define OFF 0 #define _ON 0 #define _OFF 1 //--- Control Table Address --- //EEPROM AREA #define P_MODEL_NUMBER_L 0 #define P_MODOEL_NUM