This is a port of the amazing Savage Electronics Arduino library for controlling Dynamixel AX-12 servomotors with the Particle Photon.
No external electronics are required since the TTL Half-Duplex support is achieved on software.
You can find the API documentation here.
Simply connect the Photon RX and TXtogether to the Signal pin of the Dynamixel motors.
#include <DynamixelParticleSerial.h>
void setup(){
Dynamixel.beginHalf(1000000);
}
void loop(){
Dynamixel.setEndless(1, OFF);
Dynamixel.move(1,random(200,800)); delay(1000);
Dynamixel.moveSpeed(1,random(200,800),random(200,800));
delay(2000);
Dynamixel.setEndless(1,ON);
Dynamixel.turn(1,RIGTH,1000);
delay(3000);
Dynamixel.turn(1,LEFT,1000);
delay(3000);
Dynamixel.setEndless(1,OFF);
Dynamixel.ledStatus(1,ON);
Dynamixel.moveRW(1,512);
delay(1000);
Dynamixel.action();
Dynamixel.ledStatus(1,OFF);
}
Dynamixel Half Duplex USART Comunication Copyright (c) 2011 Savage Electronics.
Created by Savage on 27/01/11.
Dynamixel Half Duplex USART Comunication for Particle Copyright (c) 2016 Pral2a - Fab Lab Barcelona.
Particle Port by Pral2a on 18/05/16.
This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA