Dynamixel

Arduino library for Dynamixel.

Feature

This library is a wrapper of DynamixelSDK for Arduino. It makes to use Dynamixel easier.

Pro, X, MX, and others(DX, RX, AX) series are supported
Both Protocol 1.0 and 2.0 are supported (X, MX series supports only 2.0)
Almost basic APIs are wrapped and simplified.
This library can control multiple motors which is daisy-chained in one RS485 bus.
By default, it is assumed that one RTS pin is used.
You can also use two pins to control enable/disable RX/TX respectively.

Please feel free to report issues and PRs.

Supported & Tested Platforms

This library currently supports only following boards.

ESP32
ESP8266
Teensy 3.x (PlatformIO)
Teensy 3.x (Arduino IDE : You need to change compile option)

Supported Models

Pro Series
X Series
MX Series
Others (DX, RX, AX)

API Limitations

REG_WRITE/ACTION is not wrapped
SYNC READ/WRITE, BULK READ/WRITE is not wrapped
INDIRECT ACCESS is not wrapped

Usage

#include <Dynamixel.h>

#define DYNAMIXEL_SERIAL Serial2 // change as you want

const uint8_t TARGET_ID = 1;
const uint8_t PIN_RTS = 11;
const uint16_t DYNAMIXEL_BAUDRATE = 57600;

Dynamixel dxl(PIN_RTS); // create instance with RTS pin

int dxl_goal_position[2];

void setup()
{
    // initialize Serial for RS485 and attach it to Dynamixel libaray
    DYNAMIXEL_SERIAL.begin(DYNAMIXEL_BAUDRATE);
    dxl.attach(DYNAMIXEL_SERIAL, DYNAMIXEL_BAUDRATE);

    // add model with id
    dxl.addModel<DxlModel::X>(TARGET_ID);
    // dxl.addModel<DxlModel::PRO>(TARGET_ID);
    // dxl.addModel<DxlModel::MX>(TARGET_ID);
    // dxl.addModel<DxlModel::OTHER>(TARGET_ID);

    delay(2000);

    dxl.torqueEnable(TARGET_ID, false);

    dxl.minPositionLimit(TARGET_ID, 1400);
    dxl.maxPositionLimit(TARGET_ID, 1900);
    dxl_goal_position[0] = dxl.minPositionLimit(TARGET_ID); // get min pos limit
    dxl_goal_position[1] = dxl.maxPositionLimit(TARGET_ID); ./ get max pos limit
    dxl.velocityLimit(TARGET_ID, 30000);

    dxl.torqueEnable(TARGET_ID, true);
}

bool dir = true; // CW or CCW

void loop()
{
    dxl.goalPosition(TARGET_ID, dxl_goal_position[(size_t)dir]); // move to position

    delay(3000);

    Serial.print("current pos = ");
    Serial.println(dxl.presentPosition(TARGET_ID)); // get current position

    dir = !dir; // reverse direction
}

For more examples, see examples folder.

APIs

// initialize
template <Model> void addModel(uint8_t id)
void attach(Stream& s, size_t baud)
uint8_t size() const

// wrapper for instructions
bool ping(uint8_t id)
Models ping() // broadcast
bool factoryReset(uint8_t id, ResetMode mode = ResetMode::EXC_ID_BAUD)
bool factoryReset(ResetMode mode = ResetMode::EXC_ID_BAUD)
bool reboot(uint8_t id)
void verbose(uint8_t id)
bool write(uint8_t id, Reg reg, uint32_t data)
uint32_t read(uint8_t id, Reg reg)

// wrappers for control table
// read values
uint16_t modelNumber(uint8_t id)
uint32_t modelInformation(uint8_t id)
uint8_t versionOfFirmware(uint8_t id)
uint8_t id(uint8_t id)
uint8_t baudrate(uint8_t id)
uint8_t returnDelayTime(uint8_t id)
uint8_t driveMode(uint8_t id)
uint8_t operatingMode(uint8_t id)
uint8_t secondaryId(uint8_t id)
uint8_t protocolVersion(uint8_t id)
int32_t homingOffset(uint8_t id)
uint32_t movingThreshold(uint8_t id)
uint8_t temperatureLimit(uint8_t id)
uint16_t maxVoltageLimit(uint8_t id)
uint16_t minVoltageLimit(uint8_t id)
uint16_t pwmLimit(uint8_t id)
uint16_t currentLimit(uint8_t id)
uint32_t accelerationLimit(uint8_t id)
uint32_t velocityLimit(uint8_t id)
uint32_t maxPositionLimit(uint8_t id)
uint32_t minPositionLimit(uint8_t id)
uint8_t shutdown(uint8_t id)
bool torqueEnable(uint8_t id)
uint8_t led(uint8_t id)
uint8_t statusReturnLevel(uint8_t id)
uint8_t registerdInstruction(uint8_t id)
uint8_t hardwareErrorStatus(uint8_t id)
uint16_t velocityIGain(uint8_t id)
uint16_t velocityPGain(uint8_t id)
uint16_t positionDGain(uint8_t id)
uint16_t positionIGain(uint8_t id)
uint16_t positionPGain(uint8_t id)
uint16_t feedForwardAccelerationGain(uint8_t id)
uint16_t feedForwardVelocityGain(uint8_t id)
int8_t busWatchdog(uint8_t id)
int16_t goalPwm(uint8_t id)
int16_t goalCurrent(uint8_t id)
int32_t goalVelocity(uint8_t id)
uint32_t profileAcceleration(uint8_t id)
uint32_t profileVelocity(uint8_t id)
int32_t goalPosition(uint8_t id)
uint16_t realTimeTick(uint8_t id)
uint8_t moving(uint8_t id)
uint8_t movingStatus(uint8_t id)
int16_t presentPwm(uint8_t id)
int16_t presentCurrent(uint8_t id)
int32_t presentVelocity(uint8_t id)
int32_t presentPosition(uint8_t id)
uint32_t velocityTrajectory(uint8_t id)
uint32_t positionTrajectory(uint8_t id)
uint16_t presentInputVoltage(uint8_t id)
uint8_t presentTemperature(uint8_t id)

// write values
bool id(uint8_t id, uint8_t x)
bool baudrate(uint8_t id, uint8_t x)
bool returnDelayTime(uint8_t id, uint8_t x)
bool driveMode(uint8_t id, uint8_t x)
bool operatingMode(uint8_t id, uint8_t x)
bool secondaryId(uint8_t id, uint8_t x)
bool protocolVersion(uint8_t id, uint8_t x)
bool homingOffset(uint8_t id, int32_t x)
bool movingThreshold(uint8_t id, uint32_t x)
bool temperatureLimit(uint8_t id, uint8_t x)
bool maxVoltageLimit(uint8_t id, uint16_t x)
bool minVoltageLimit(uint8_t id, uint16_t x)
bool pwmLimit(uint8_t id, uint16_t x)
bool currentLimit(uint8_t id, uint16_t x)
bool accelerationLimit(uint8_t id, uint32_t x)
bool velocityLimit(uint8_t id, uint32_t x)
bool maxPositionLimit(uint8_t id, uint32_t x)
bool minPositionLimit(uint8_t id, uint32_t x)
bool shutdown(uint8_t id, uint8_t x)
bool torqueEnable(uint8_t id, bool x)
bool led(uint8_t id, bool x)
bool statusReturnLevel(uint8_t id, uint8_t x)
bool velocityIGain(uint8_t id, uint16_t x)
bool velocityPGain(uint8_t id, uint16_t x)
bool positionDGain(uint8_t id, uint16_t x)
bool positionIGain(uint8_t id, uint16_t x)
bool positionPGain(uint8_t id, uint16_t x)
bool feedForwardAccelerationGain(uint8_t id, uint16_t x)
bool feedForwardVelocityGain(uint8_t id, uint16_t x)
bool busWatchdog(uint8_t id, int8_t x)
bool goalPwm(uint8_t id, int16_t x)
bool goalCurrent(uint8_t id, int16_t x)
bool goalVelocity(uint8_t id, int32_t x)
bool profileAcceleration(uint8_t id, uint32_t x)
bool profileVelocity(uint8_t id, uint32_t x)
bool goalPosition(uint8_t id, int32_t x)

TBD

REG_WRITE/ACTION
INDIRECT ACCESS helper class
SYNC READ/WRITE
BULK READ/WRITE

APPENDIX: Instruction for Teensy + Arduino IDE

This instruction does not guarantee anything, please do it at your own risk

To use this library with Teensy + Arduino IDE, you should enable STL. By default, STL is disabled when you use Teensy w/ Arduino IDE. To enable STL, please add -lstdc++ to build flags in boards.txt. (Please do that everytime if you update Teensyduino version)

Default location of boards.txt in Windows is:

Windows : C:\Program Files (x86)\Arduino\hardware\teensy\avr\boards.txt
macOS : Arduino.app/Contents/Java/hardware/teensy/avr/boards.txt

In paticular, please change these lines

teensy36.build.flags.libs=-larm_cortexM4lf_math -lm
teensy35.build.flags.libs=-larm_cortexM4lf_math -lm
teensy31.build.flags.libs=-larm_cortexM4l_math -lm

teensy36.build.flags.libs=-larm_cortexM4lf_math -lm -lstdc++
teensy35.build.flags.libs=-larm_cortexM4lf_math -lm -lstdc++
teensy31.build.flags.libs=-larm_cortexM4l_math -lm -lstdc++

License

MIT

DynamixelSDK's license is Apache License 2.0. Please see Dynamixel/lib/DynamixelSDK and DynamixelSDK repo for details.

symmetryninja / Dynamixel