a speedy C library for accessing Dynamixel AX servos
I needed a C library for communication using a simple serial device like USB2AX.
Another starting point for me has been the dynapi which is in C++ and also only supports the CM5 interface. Which does seem to use ASCII like commands and no raw serial bytes.
So anyway, I started with pydynamixel and decided to write a simple and fast C library.
Here we are.
Most of the code came from libmodbus which to be honest gave me the perfect skeleton for this library.
Thanks again to Stéphane Raimbault from http://libmodbus.org who allowed me to copy and abuse his code.
All you need is cmake and a gcc. Then simply create makefiles with cmake and feel free to compile:
git clone https://github.com/erazor83/libdynamixel cd libdynamixel cmake . make make install
There are some options to enable different additional features:
- WITH_SHARED - build shared .so file (libdynamixel_shared.so)
- WITH_PYTHON_SWIG - build Python-Swig bindings
- WITH_EXAMPLES - build examples
- WITH_TROSSEN - enable Trossen Commander Packages
cmake -DWITH_SHARED=1 .
There is even a libdynamixel ebuild at http://wiki.erazor-zone.de/wiki:projects:linux:gentoo
GNU General Public License, version 2
- Stéphane Raimbault - for libmodbus
- Nicolas Saugnier - for USB2AX firmware
- Thomas Volkert - for helping me with C and some cmake stuff