Got Dynamixels?

JonnyMac

If you do, would you mind looking over my object and giving it a whirl? Thanks!

Oh... even if you don't have Dynamixels, any constructive feedback is appreciated.


[Edit] I have tested most features and everything seems to work as it should -- just looking for thoughts. Dynamixels are neat, but somewhat tricky; I'm hoping this object helps those wanting to dive into them.

[Edit] Updated driver attached to post #4 (below)

Duane Degn

I'll dig my Smartarm out and give your code a try.

ratronic

Jon I messed up my first post to this thread so I deleted it. I haven't tried all of your functions but I did write this which will turn off the torq for servo#1 and then display the current servo position and temperature in Celsius.

Con
  _CLKMODE = XTAL1 + PLL16X
  _XINFREQ = 5_000_000
  
  ID = 1              'servo id#
  DP = 0              'servo port pin
  
Var
  long addr, freq
  
Obj
   jm : "jm_dynamixel"
  pst : "parallax serial terminal"
  
Pub main | i
  pst.start(57_600)
  jm.start(DP, 1_000_000)
  jm.wr_byte(1, $18, 0)
  repeat
    pst.char(1)
    pst.str(string("Position = "))
    pst.dec(jm.rd_word(ID, $24))
    pst.chars(32, 5)  
    pst.str(string(13, 13, "Temp     = "))
    pst.dec(jm.rd_byte(ID, $2b)) 
    pst.chars(32, 5)

JonnyMac

After chatting with Kyle at Trossen robotics I came away with the impression that Dynamixels really don't want to deal with more than about 30 packets per second. I rewrote my X/Y report (for a head mechanism a friend is working on) so that it reads the entire contents of the Dynamixel RAM in one packet. The updated driver includes simple methods for pulling bytes and words from any buffer (without worry of alignment).