DYNAMIXEL2Arduino

Summary

This is the Dynamixel motor control code with Dynamixel2Arduino API on RTOS system.

It consist of 2 thread, serial-write & serial-read.

You can publish the command with arguments as string, and subscribe the motor states from OpenRB-150.

Environments

• MCU : OpenRB-150

• Arduino IDE (2.3.2)

• Library

  Dynamixel2Arduino (0.7.0)

  FreeRTOS_SAMD21 (2.3.0)

Protocol of serial-communication

• STX → '/'
• CTX → ';'
• split → ','
• Substances
  • Read (PC to MCU) : Function name and its arguments
  • Write (MCU to PC) : motor state
    (/ID, hardware_error, Moving, PresentPosition, PresentVelocity, PresentCurrent;)

Description

• Serial Write

  MCU(OpenRB-150) send the motor states by serial-communication

  • Normal mode - using readControlTableItem() from Dynamixel2Arduino API.
  • Sync mode - using SyncRead() from Dynamixel2Arduino API.

• Serial Read

  MCU(OpenRB-150) receive the protocol by serial-communication

  • Normal mode & Sync mode are the same
  • You can send command one by one, or send tehm all at once(syncWrite()).

Code

Normal mode

Serial read use Dynamixel2Arduino class member function (using readControlTableItem API)

Demo

👉🏻 [code] (https://github.com/Bigyuun/Dynamixel2Arduino-RTOS/blob/master/examples/RTOS/RTOS_readControlTableItem/RTOS_readControlTableItem.ino)

configuration

• RTOS_readControlTableItem.ino
• definition.hpp

https://emanual.robotis.com/docs/en/parts/controller/openrb-150/

---

Sync mode & Fast Sync mode

Serial read use Dynamixel2Arduino Master class member > function

Demo

• Sync mode (read)

  👉🏻 [code] (https://github.com/Bigyuun/Dynamixel2Arduino-RTOS/blob/master/examples/RTOS/RTOS_sync_read/RTOS_sync_read.ino)

• Fast Sync mode (read)

  👉🏻 [code] (https://github.com/Bigyuun/Dynamixel2Arduino-RTOS/blob/master/examples/RTOS/RTOS_sync_read/RTOS_fast_sync_read.ino)

• Sync mode (read & write)

  👉🏻 [code] (https://github.com/Bigyuun/Dynamixel2Arduino-RTOS/blob/master/examples/RTOS/RTOS_sync_read/RTOS_sync_read_write.ino)

• Fast Sync mode (read & write)

  👉🏻 [code] (https://github.com/Bigyuun/Dynamixel2Arduino-RTOS/blob/master/examples/RTOS/RTOS_sync_read/RTOS_fast_sync_read_write.ino)

configuration

• RTOS_sync_read.ino
• definition.hpp
• control_table.hpp

https://emanual.robotis.com/docs/en/parts/controller/openrb-150/

Usage

Serial Write (MCU to PC)

• Form
  /motor_id, errcode, MOVING, PresentPosition(degree), PresentVelocity, PresentCurrent;

  → e.g. /1,0,0,87.912003,0.000000,0.000000;

  

Serial Read (PC to MCU)

• Form

  /Function name(Dynamixel2Arduino), arg1, arg2, ...;

• Dynamixel2Arduino API

  • For using ‘dxl.setOperatingMode(1, OP_POSITION)’

    → /setOperatingMode,1,3;

    

  • Sync Write Function

    → /syncWrite,{target_name},{target_value_of_motor_#1},{target_value_of_motor_#2}, ... ;

    e.g. /syncWrite,poisition,1000,3000;

  • Torque On & Off of all motors

    → /torqueOnAll;

    → /torqueOffAll;

• Other custom function

  • Monitoring as protocol

    If you want to see without protocol, you can send

    → /monitorOn;

    

  • Monitoring as User

    Else if you want to see the motor states with protocol, you can send

    → /monitorOff;

    

  • Task information

    If you want to check the task information about each multi-thread, you can send

    → /task;

    

Serial and Direction Pin definitions of ROBOTIS controllers

• When running DYNAMIXEL without DYNAMIXEL Shields on OpenCM9.04, OpenCR or custom boards, you might need to change the Serial and DYNAMIXEL Direction Pin.

• We provide the information below to make it easier to define Serial and Direction pins for specific hardware.

  Board Name	Serial	Direction Pin	Note
  OpenCM9.04	Serial1	28	Uploading Arduino Sketch will erase the factory firmware. The firmware can be recovered with DYNAMIXEL Wizard 2.0
  OpenCM485EXP	Serial3	22
  OpenCR	Serial3	84	OpenCR has an FET switch to control power supply to DYNAMIXEL. (Reference link)
  OpenRB-150	Serial1	(-1)Automatic	-

How to add new DYNAMIXEL model.

• For the convenience of the user, Dynamixel2Arduino API hardcodes some information in the control table and stores it in flash.
• To do this, you need to add code to some files. In this regard, please refer to PR#3 and PR#7

How to create custom PortHandler Class

• Please refer to port_handler.h
• Create a new class by inheriting PortHandler as public. (Like SerialPortHandler and USBSerialPortHandler)