Issue: No Movement
PROVIDE A THOUROUGH DESCRIPTION OF YOUR ISSUE, THE MORE DETAIL YOU PROVIDE THE EASIER IT WILL BE FOR THE COMMUNITY TO PROVIDE YOU ASSISTANCE
DYNAMIXEL Servo: AX-12A
LIST ALL DYNAMIXEL SERVOS USED IN THIS PROJECT
DYNAMIXEL Controller: U2D2 and BeagleBone Black via USB
LIST ALL DYNAMIXEL CONTROLLERS USED IN THIS PROJECT
Software Interface: C/C++ and Python3
LIST ALL SOFTWARE INTERFACES USED IN THIS PROJECT
/*******************************************************************************
* Copyright 2017 ROBOTIS CO., LTD.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/
/* Author: Ryu Woon Jung (Leon) */
//
// ********* Read and Write Example *********
//
//
// Available DXL model on this example : All models using Protocol 1.0
// This example is designed for using a Dynamixel MX-28, and an USB2DYNAMIXEL.
// To use another Dynamixel model, such as X series, see their details in E-Manual(emanual.robotis.com) and edit below "#define"d variables yourself.
// Be sure that Dynamixel MX properties are already set as %% ID : 1 / Baudnum : 34 (Baudrate : 57600)
//
#if defined(__linux__) || defined(__APPLE__)
#include <fcntl.h>
#include <termios.h>
#define STDIN_FILENO 0
#elif defined(_WIN32) || defined(_WIN64)
#include <conio.h>
#endif
#include <stdlib.h>
#include <stdio.h>
#include "dynamixel_sdk.h" // Uses Dynamixel SDK library
// Control table address
#define ADDR_AX_TORQUE_ENABLE 24 // Control table address is different in Dynamixel model
#define ADDR_AX_GOAL_POSITION 30
#define ADDR_AX_PRESENT_POSITION 36
// Protocol version
#define PROTOCOL_VERSION 1.0 // See which protocol version is used in the Dynamixel
// Default setting
#define DXL_ID 1 // Dynamixel ID: 1
#define BAUDRATE 57600
#define DEVICENAME "/dev/ttyUSB0" // Check which port is being used on your controller
// ex) Windows: "COM1" Linux: "/dev/ttyUSB0" Mac: "/dev/tty.usbserial-*"
#define TORQUE_ENABLE 1 // Value for enabling the torque
#define TORQUE_DISABLE 0 // Value for disabling the torque
#define DXL_MINIMUM_POSITION_VALUE 0 // Dynamixel will rotate between this value
#define DXL_MAXIMUM_POSITION_VALUE 1023 // and this value (note that the Dynamixel would not move when the position value is out of movable range. Check e-manual about the range of the Dynamixel you use.)
#define DXL_MOVING_STATUS_THRESHOLD 10 // Dynamixel moving status threshold
#define ESC_ASCII_VALUE 0x1b
int getch()
{
#if defined(__linux__) || defined(__APPLE__)
struct termios oldt, newt;
int ch;
tcgetattr(STDIN_FILENO, &oldt);
newt = oldt;
newt.c_lflag &= ~(ICANON | ECHO);
tcsetattr(STDIN_FILENO, TCSANOW, &newt);
ch = getchar();
tcsetattr(STDIN_FILENO, TCSANOW, &oldt);
return ch;
#elif defined(_WIN32) || defined(_WIN64)
return _getch();
#endif
}
int kbhit(void)
{
#if defined(__linux__) || defined(__APPLE__)
struct termios oldt, newt;
int ch;
int oldf;
tcgetattr(STDIN_FILENO, &oldt);
newt = oldt;
newt.c_lflag &= ~(ICANON | ECHO);
tcsetattr(STDIN_FILENO, TCSANOW, &newt);
oldf = fcntl(STDIN_FILENO, F_GETFL, 0);
fcntl(STDIN_FILENO, F_SETFL, oldf | O_NONBLOCK);
ch = getchar();
tcsetattr(STDIN_FILENO, TCSANOW, &oldt);
fcntl(STDIN_FILENO, F_SETFL, oldf);
if (ch != EOF)
{
ungetc(ch, stdin);
return 1;
}
return 0;
#elif defined(_WIN32) || defined(_WIN64)
return _kbhit();
#endif
}
int main()
{
// Initialize PortHandler Structs
// Set the port path
// Get methods and members of PortHandlerLinux or PortHandlerWindows
int port_num = portHandler(DEVICENAME);
// Initialize PacketHandler Structs
packetHandler();
int index = 0;
int dxl_comm_result = COMM_TX_FAIL; // Communication result
int dxl_goal_position[2] = { DXL_MINIMUM_POSITION_VALUE, DXL_MAXIMUM_POSITION_VALUE }; // Goal position
uint8_t dxl_error = 0; // Dynamixel error
uint16_t dxl_present_position = 10; // Present position
// Open port
if (openPort(port_num))
{
printf("Succeeded to open the port!\n");
}
else
{
printf("Failed to open the port!\n");
printf("Press any key to terminate...\n");
getch();
return 0;
}
// Set port baudrate
if (setBaudRate(port_num, BAUDRATE))
{
printf("Succeeded to change the baudrate!\n");
}
else
{
printf("Failed to change the baudrate!\n");
printf("Press any key to terminate...\n");
getch();
return 0;
}
// Enable Dynamixel Torque
write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_AX_TORQUE_ENABLE, TORQUE_ENABLE);
if ((dxl_comm_result = getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
{
printf("%s\n", getTxRxResult(PROTOCOL_VERSION, dxl_comm_result));
}
else if ((dxl_error = getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
{
printf("%s\n", getRxPacketError(PROTOCOL_VERSION, dxl_error));
}
else
{
printf("Dynamixel has been successfully connected \n");
}
while (1)
{
printf("Press any key to continue! (or press ESC to quit!)\n");
if (getch() == ESC_ASCII_VALUE)
break;
// Write goal position
write2ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_AX_GOAL_POSITION, dxl_goal_position[index]);
if ((dxl_comm_result = getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
{
printf("%s\n", getTxRxResult(PROTOCOL_VERSION, dxl_comm_result));
}
else if ((dxl_error = getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
{
printf("%s\n", getRxPacketError(PROTOCOL_VERSION, dxl_error));
}
do
{
// Read present position
dxl_present_position = read2ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_AX_PRESENT_POSITION);
if ((dxl_comm_result = getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
{
printf("%s\n", getTxRxResult(PROTOCOL_VERSION, dxl_comm_result));
}
else if ((dxl_error = getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
{
printf("%s\n", getRxPacketError(PROTOCOL_VERSION, dxl_error));
}
printf("[ID:%03d] GoalPos:%03d PresPos:%03d\n", DXL_ID, dxl_goal_position[index], dxl_present_position);
} while ((abs(dxl_goal_position[index] - dxl_present_position) > DXL_MOVING_STATUS_THRESHOLD));
// Change goal position
if (index == 0)
{
index = 1;
}
else
{
index = 0;
}
}
// Disable Dynamixel Torque
write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_AX_TORQUE_ENABLE, TORQUE_DISABLE);
if ((dxl_comm_result = getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
{
printf("%s\n", getTxRxResult(PROTOCOL_VERSION, dxl_comm_result));
}
else if ((dxl_error = getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
{
printf("%s\n", getRxPacketError(PROTOCOL_VERSION, dxl_error));
}
// Close port
closePort(port_num);
return 0;
}
It seems that my AX-12A has ceased to work and I cannot control it any longer after this source ran well. It moved at first and then ceased to work. Please provide support when you have time.
Seth