Dynamixel Arduino Shield cannot find connected motors (XM430)

[roboteer]

Back in April 2024, I also found that I could not use UNO R4 although its Serial1() seemed to work fine at Full-Duplex, please see this post:

First Look at Arduino UNO R4 and Dynamixel2Arduino

Arduino released UNO R4 back in July 2023, and I got interested in it, because finally the UNO R4 has a separate hardware UART for Serial Monitor (now as Serial()) and another hardware UART for DXL Control (now as Serial1() still via D0 and D1). So in theory it should be compatible with the DXL Shield (which was designed for UNO R3 and earlier). I got my UNO R4 WiFi yesterday and I just got through my first tests with it and some 2XL-430 (see my setup below). [IMG_026866] I got COMPILE err…

In general, I have stopped using that group of #define statements, and just set the DIR_DXL_PIN appropriately. I also have stopped using ping() and scan() from the D2A library as sometimes they worked for me and sometimes, they don’t. I just send direct DXL commands to my DXLs as I know their IDs anyway.

I did find that UNO R3 worked for me with DXLs, see previous item in this same post:

Dynamixel Arduino Shield cannot find connected motors (XM430)

Below is my setup: DXL Shield is powered by 12 V PS to its Terminal Block. VIN Jumper is disconnected. UNO-R3 is powered by USB cable. I am using a 2XL-430 actuator. [UNO-R3-Setup] Below is the Arduino sketch I used. It is based on the example sketch “position_mode.ino” but I stripped out all the macros and DEBUG_SERIAL stuff. #include <Dynamixel2Arduino.h> #define DXL_SERIAL Serial const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN const uint8_t DXL_ID = 1; const float DXL_PROTOCOL…