I am not sure if anyone will get any usage out of this test program. But I thought I might post it as there have been a few different postings/questions up on the Robotis forum about people having difficulties talking to their servos connected up to an OpenCM9.04 board.
So I extracted some of my larger servo test program for the OpenCM9.04 board into into a simpler test program that tries to print out which servos are connected to the OpenCM board on either Serial1 or Serial3 and which ones are Protocol 1 and which ones are Protocol 2. I probably should clean it up some to remove a lot of unused defines…
The code defaults to a baud rate of 1000000, but after the scan ends you can enter a different baud rate to start a new scan. Again nothing special.
I plugged in two Hexapod legs that I have setup, one using AX-12 servos and one setup with XL430-250-t… Hopefully in the not to distant future will have full hexapod with the new servos…
CM9.04 Find Servos program
Search for all servos at baud rate: 1000000
Begin Searching on Port: 1
Begin Protocol 1:
14 - 475
16 - 414
18 - 584
Done
Begin Protocol 2:
8, Model:4248 - 2469
10, Model:42410 - 2694
12, Model:42412 - 1925
Done
Begin Searching on Port: 3
Begin Protocol 1:
Done
Begin Protocol 2:
Done
Find Again, enter new baud or just hit enter
The Arduino Sketch code:
#include <DynamixelSDK.h>
//====================================================================================================
// Kurts Test program to try out different ways to manipulate the AX12 servos on the PhantomX
// This is a test, only a test...
//
// This version for Robotis OpenCM9.04
//====================================================================================================
//============================================================================
// Global Include files
//=============================================================================
//=============================================================================
// Options...
//=============================================================================
#if defined(__OPENCR__) || defined(__OPENCM904__)
uint8_t port_handler_numbers[] = {1, 3}; // Setup to handle both ports of openCR
#endif
#if defined(TEENSYDUINO)
uint8_t port_handler_numbers[] = {1}; // Default to Serial1
#if defined(__MK66FX1M0__)
// Try with the T3.6 board
#define SERVOBUS Serial1
#define SERVO_RX_PIN 27
#define SERVO_TX_PIN 26
#define SERVO_DIRECTION_PIN 28
#define SERVO_POWER_ENABLE_PIN 29
#else
#define SERVO_POWER_ENABLE_PIN 2
#endif
#endif
#define COUNT_PORTHANDLERS sizeof(port_handler_numbers)
//=============================================================================
// Define differnt robots..
//=============================================================================
// Protocol version
#define PROTOCOL_VERSION 1.0 // See which protocol version is used in the Dynamixel
#define PROTOCOL_VERSION2 2.0 // See which protocol version is used in the Dynamixel
#define DEVICENAME "3" // Check which port is being used on your controller
#define DXL_BAUDRATE 1000000
/** EEPROM AREA **/
#define AX_MODEL_NUMBER_L 0
#define AX_MODEL_NUMBER_H 1
#define AX_VERSION 2
#define AX_ID 3
#define AX_BAUD_RATE 4
#define AX_RETURN_DELAY_TIME 5
#define AX_CW_ANGLE_LIMIT_L 6
#define AX_CW_ANGLE_LIMIT_H 7
#define AX_CCW_ANGLE_LIMIT_L 8
#define AX_CCW_ANGLE_LIMIT_H 9
#define AX_SYSTEM_DATA2 10
#define AX_LIMIT_TEMPERATURE 11
#define AX_DOWN_LIMIT_VOLTAGE 12
#define AX_UP_LIMIT_VOLTAGE 13
#define AX_MAX_TORQUE_L 14
#define AX_MAX_TORQUE_H 15
#define AX_RETURN_LEVEL 16
#define AX_ALARM_LED 17
#define AX_ALARM_SHUTDOWN 18
#define AX_OPERATING_MODE 19
#define AX_DOWN_CALIBRATION_L 20
#define AX_DOWN_CALIBRATION_H 21
#define AX_UP_CALIBRATION_L 22
#define AX_UP_CALIBRATION_H 23
/** RAM AREA **/
#define AX_TORQUE_ENABLE 24
#define AX_LED 25
#define AX_CW_COMPLIANCE_MARGIN 26
#define AX_CCW_COMPLIANCE_MARGIN 27
#define AX_CW_COMPLIANCE_SLOPE 28
#define AX_CCW_COMPLIANCE_SLOPE 29
#define AX_GOAL_POSITION_L 30
#define AX_GOAL_POSITION_H 31
#define AX_GOAL_SPEED_L 32
#define AX_GOAL_SPEED_H 33
#define AX_TORQUE_LIMIT_L 34
#define AX_TORQUE_LIMIT_H 35
#define AX_PRESENT_POSITION_L 36
#define AX_PRESENT_POSITION_H 37
#define AX_PRESENT_SPEED_L 38
#define AX_PRESENT_SPEED_H 39
#define AX_PRESENT_LOAD_L 40
#define AX_PRESENT_LOAD_H 41
#define AX_PRESENT_VOLTAGE 42
#define AX_PRESENT_TEMPERATURE 43
#define AX_REGISTERED_INSTRUCTION 44
#define AX_PAUSE_TIME 45
#define AX_MOVING 46
#define AX_LOCK 47
#define AX_PUNCH_L 48
#define AX_PUNCH_H 49
//=============================================================
// Defines for X series (XL430)
//=============================================================================
#define DXL_PING 1
#define DXL_READ_DATA 2
#define DXL_WRITE_DATA 3
#define DXL_REG_WRITE 4
#define DXL_ACTION 5
#define DXL_RESET 6
#define DXL_SYNC_READ 0x82
#define DXL_SYNC_WRITE 0x83
/** EEPROM AREA **/
#define DXL_X_MODEL_NUMBER 0 //2 1060(xl430-250)
#define DXL_X_MODEL_INFORMATION 2 //4
#define DXL_X_VERSION 6
#define DXL_X_ID 7 // 1 1
#define DXL_X_BAUD_RATE 8 // 1 1
#define DXL_X_RETURN_DELAY_TIME 9 // 1 250
#define DXL_X_DRIVE_MODE 10 // 1 0
#define DXL_X_OPERATING_MODE 11 // 1 3
#define DXL_X_SECONDARY_ID 12 // 1 255
#define DXL_X_PROTOCOL_VERSION 13 // 1 - 2
#define DXL_X_HOMING_OFFSET 20 // 4 - 0
#define DXL_X_MOVING_THRESHOLD 24 // 4 - 10
#define DXL_X_TEMPERATURE_LIMIT 31 //1 - 72
#define DXL_X_MAX_VOLTAGE_LIMIT 32 // 2 140
#define DXL_X_MIN_VOLTAGE_LIMIT 34 // 2 60
#define DXL_X_PWM_LIMIT 36 // 2 885
#define DXL_X_ACCELERATION_LIMIT 40 // 4 32767
#define DXL_X_VElOCITY_LIMIT 44 // 4 415
#define DXL_X_MAX_POSITION_LIMIT 48 // 4 4095
#define DXL_X_MIN_POSITION_LIMIT 52 // 4 0
#define DXL_X_SHUTDOWN 63 // 1 52
/** RAM AREA **/
#define DXL_X_TORQUE_ENABLE 64 // 1 0
#define DXL_X_LED 65 // 1 0
#define DXL_X_STATUS_RETURN_LEVEL 68 // 1 2
#define DXL_X_REGISTERED_INSTRUCTION 69 //1 (R)
#define DXL_X_HARDWARE_ERROR_STATUS 70 // 1 (R)
#define DXL_X_VELOCITY_I_GAIN 76 // 2 1000
#define DXL_X_VELOCITY_P_GAIN 78 // 2 100
#define DXL_X_POSITION_D_GAIN 80 // 2 4000
#define DXL_X_POSITION_I_GAIN 82 // 2 0
#define DXL_X_POSITION_P_GAIN 84 // 2 640
#define DXL_X_FEEDFORWARD_2_GAIN 88 // 2 0
#define DXL_X_FEEDFORWARD_1_GAIN 90 // 2 0
#define DXL_X_BUS_WATCHDOG 98 // 1 -
#define DXL_X_GOAL_PWM 100 // 2
#define DXL_X_GOAL_VELOCITY 104 // 4
#define DXL_X_PROFILE_ACCELERATION 108 // 4
#define DXL_X_PROFILE_VELOCITY 112 // 4
#define DXL_X_GOAL_POSITION 116 // 4
#define DXL_X_REALTIME_TICK 120 // 2 (R)
#define DXL_X_MOVING 122 // 1 (R)
#define DXL_X_MOVING_STATUS 123 // 1 (R)
#define DXL_X_PRESENT_PWN 124 // 2 (R)
#define DXL_X_PRESENT_LOAD 126 // 2 (R)
#define DXL_X_PRESENT_VELOCITY 128 // 4 (R)
#define DXL_X_PRESENT_POSITION 132 // 4 (R)
#define DXL_X_VELOCITY_TRAJECTORY 136 // 4 (R)
#define DXL_X_POSITION_TRAJECTORY 140 // 4 (R)
#define DXL_X_PRESENT_INPUT_VOLTAGE 144 // 2 (R)
#define DXL_X_PRESENT_TEMPERATURE 146 // 1 (R)
//=============================================================================
// Globals
//=============================================================================
// Global objects
// Handle to port handler and packet handler;
dynamixel::PortHandler *portHandlers[COUNT_PORTHANDLERS];
dynamixel::PacketHandler *packetHandler1;
dynamixel::PacketHandler *packetHandler2;
uint8_t g_servo_protocol[254];
uint32_t g_baud_rate = DXL_BAUDRATE;
//====================================================================================================
// Setup
//====================================================================================================
void setup() {
while (!Serial && (millis() < 3000)) ; // Give time for Teensy and other USB arduinos to create serial port
Serial.begin(38400); // start off the serial port.
Serial.println("nCM9.04 Find Servos program");
#if defined(SERVO_RX_PIN)
SERVOBUS.setRX(SERVO_RX_PIN);
#endif
#if defined(SERVO_TX_PIN)
SERVOBUS.setTX(SERVO_TX_PIN);
#endif
#ifdef SERVO_POWER_ENABLE_PIN
pinMode(SERVO_POWER_ENABLE_PIN, OUTPUT);
digitalWrite(SERVO_POWER_ENABLE_PIN, HIGH);
#endif
pinMode(4, OUTPUT);
// Initialize PacketHandler instance
packetHandler1 = dynamixel::PacketHandler::getPacketHandler(PROTOCOL_VERSION);
packetHandler2 = dynamixel::PacketHandler::getPacketHandler(PROTOCOL_VERSION2);
// Open port
// Set the protocol version
// Get methods and members of Protocol1PacketHandler or Protocol2PacketHandler
// Initialize PortHandler instances
char port_string[5];
for (uint8_t i = 0; i < COUNT_PORTHANDLERS; i++) {
itoa(port_handler_numbers[i], port_string, sizeof(port_string));
portHandlers[i] = dynamixel::PortHandler::getPortHandler(port_string);
// Lets init the two different port handlers.
#if defined(SERVO_DIRECTION_PIN)
portHandlers[i]->setTXEnablePin(SERVO_DIRECTION_PIN);
#endif
if (!portHandlers[i]->openPort()) {
Serial.print("Failed to open port 1 the Dynamixel port: ");
Serial.println(port_string);
}
if (!portHandlers[i]->setBaudRate(g_baud_rate)) {
Serial.print("Failed to change the Port 1 Dynamixel baudrate: ");
Serial.println(port_string);
}
}
delay(1000);
// Lets start of trying to locate all servos.
FindServos();
}
//====================================================================================================
// Loop
//====================================================================================================
void loop() {
// Output a prompt
// lets toss any charcters that are in the input queue
Serial.println("nFind Again, enter new baud or just hit enter");
Serial.flush(); // make sure the complete set of prompts has been output...
while (Serial.read() != -1) ; // Remove any stuff still in serial buffer.
// Get a command
uint32_t new_baud = CheckForNewBaud();
if (new_baud) {
SetBaudRate(new_baud);
}
FindServos();
}
//=======================================================================================
void FindServos(void) {
uint16_t w;
Serial.print("nSearch for all servos at baud rate: ");
Serial.println(g_baud_rate, DEC);
// Initialize to no servos...
for (int i = 0; i < 254; i++) {
g_servo_protocol[i] = 0; // not found
}
for (uint8_t port_index = 0; port_index < COUNT_PORTHANDLERS; port_index++) {
dynamixel::PortHandler *portHandler = portHandlers[port_index];
Serial.print("Begin Searching on Port: ");
Serial.println(port_handler_numbers[port_index], DEC);
Serial.println(" Begin Protocol 1: ");
for (int i = 0; i < 254; i++) {
if (packetHandler1->read2ByteTxRx(portHandler, i, AX_PRESENT_POSITION_L, &w) == COMM_SUCCESS) {
if (g_servo_protocol[i]) {
Serial.println("Multiple servos found with same ID");
}
g_servo_protocol[i] = 1;
Serial.print(" ");
Serial.print(i, DEC);
Serial.print(" - ");
Serial.println(w, DEC);
}
}
Serial.println(" Done");
Serial.println(" Begin Protocol 2: ");
for (int i = 0; i < 254; i++) {
uint16_t model_number;
uint32_t position;
if (packetHandler2->ping(portHandler, i, &model_number) == COMM_SUCCESS) {
if (g_servo_protocol[i]) {
Serial.println("Multiple servos found with same ID");
}
g_servo_protocol[i] = 2;
Serial.print(" ");
Serial.print(i, DEC);
Serial.print(", Model:");
Serial.print(model_number, HEX);
packetHandler2->read4ByteTxRx(portHandler, i, DXL_X_PRESENT_POSITION, &position);
Serial.print(i, DEC);
Serial.print(" - ");
Serial.println(position, DEC);
}
}
Serial.println(" Done");
}
}
//====================================================================================================
// Process command line, optionally return new baud rate
uint32_t CheckForNewBaud(void) {
int ch;
uint32_t new_baud = 0;
for (;;) {
// throw away any thing less than CR character...
ch = Serial.read();
if (ch != -1) {
if ((ch >= '0') && (ch <= '9')) {
new_baud = new_baud * 10 + (uint32_t)(ch - '0');
} else {
break;
}
}
}
while (Serial.read() != -1) ; // remove any trailing stuff.
return new_baud;
}
//=======================================================================================
void SetBaudRate(uint32_t new_baud)
{
Serial.print("Setting Baud to: ");
Serial.println(new_baud);
for (uint8_t i = 0; i < COUNT_PORTHANDLERS; i++) {
if (!portHandlers[i]->setBaudRate(new_baud)) {
Serial.print("Failed to change the Port ");
Serial.print(port_handler_numbers[i], DEC);
Serial.print("Baud to: ");
Serial.println(new_baud, DEC);
}
}
g_baud_rate = new_baud;
}
I also put it up in my WIP branch of my Open CM project on github: https://github.com/KurtE/Open_CM904/tree/WIP_Support_XL320_Servos
I also put up a similar post up on Robotis in the thread: http://en.robotis.com/service/forum_view.php?bbs_no=2406778&page=1&sca=&stx=&sfl=
