Summary

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

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

We 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)

Protocol of serial-communication

• STX → /
• CTX → ;
• Substances
  • Read : Function name and its arguments
  • Write : motor state

Example

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 /Functinos name(Dynamixel2Arduino), arg1, arg2, ...;
• Dynamixel2Arduino API
  • For using ‘dxl.setOperatingMode(1, OP_POSITION)’ → /setOperatingMode,1,3;
• Other custom function

  • Monitoring as protocol ****Else if you want to see without protocol, you can send → /monitorOn;

    

  • Monitoring as User ****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 each, you can send → /task;