Dynamixel2Arduino <write_x> 예제를 이용하여 다이나믹셀 XL-330 2개를 제어하려면 어떻게 해야 하나요?

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1

아두이노로 속도제어와 위치제어를 동시에 구현하고 싶은데,
다이나믹셀이 2개라서 기존 <write_x>를 수정해야 합니다.
어떻게 수정해야 할까요?

+) void loop문에서 "suggested alternative: ‘dxl_1’ exit status 1 ‘dx1_1’ was not declared in this scope "
라고 오류 메세지가 뜹니다.

(참고 : 제어기는 OpenRB-150 사용)

#include <Dynamixel2Arduino.h>
#include <DynamixelShield.h>

// Please modify it to suit your hardware.
#if defined(ARDUINO_OpenRB)  // When using OpenRB-150
  //OpenRB does not require the DIR control pin.
  #define DXL_SERIAL Serial1
  #define DEBUG_SERIAL Serial
  const int DXL_DIR_PIN = -1;
#else // Other boards when using DynamixelShield
  #define DXL_SERIAL   Serial1
  #define DEBUG_SERIAL Serial
  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
#endif

//Please see eManual Control Table section of your DYNAMIXEL.
//This example is written for DYNAMIXEL X series(excluding XL-320)
#define OPERATING_MODE_ADDR         11
#define OPERATING_MODE_ADDR_LEN     1
#define TORQUE_ENABLE_ADDR          64
#define TORQUE_ENABLE_ADDR_LEN      1
#define LED_ADDR                    65
#define LED_ADDR_LEN                1
#define GOAL_POSITION_ADDR          116
#define GOAL_POSITION_ADDR_LEN      4
#define PRESENT_POSITION_ADDR       132
#define PRESENT_POSITION_ADDR_LEN   4
#define POSITION_CONTROL_MODE       3
#define TIMEOUT 10    //default communication timeout 10ms

uint8_t turn_on = 1;
uint8_t turn_off = 0;
const uint8_t DXL_ID_1 = 1;
const uint8_t DXL_ID_0 = 0;
const float DXL_PROTOCOL_VERSION = 2.0;
//Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
DynamixelShield dxl_1;
DynamixelShield dxl_0;
Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
using namespace ControlTableItem;
uint8_t operatingMode = POSITION_CONTROL_MODE;

uint32_t a;
uint32_t b;

void setup() {
  
    Serial.begin(57600);    

    DEBUG_SERIAL.begin(115200);   //Set debugging port baudrate to 115200bps
  while(!DEBUG_SERIAL);         //Wait until the serial port for terminal is opened
  
  // Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
  dxl_1.begin(57600);
  dxl_0.begin(57600);
  // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
  dxl_1.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
  dxl_0.setPortProtocolVersion(DXL_PROTOCOL_VERSION);

  dxl_1.ping(DXL_ID_1);
  dxl_0.ping(DXL_ID_0);

  // Turn off torque when configuring items in EEPROM area
  if(dxl_0.write(DXL_ID_0, TORQUE_ENABLE_ADDR, (uint8_t*)&turn_off , TORQUE_ENABLE_ADDR_LEN, TIMEOUT) && dxl_1.write(DXL_ID_1, TORQUE_ENABLE_ADDR, (uint8_t*)&turn_off , TORQUE_ENABLE_ADDR_LEN, TIMEOUT))
    DEBUG_SERIAL.println("DYNAMIXEL Torque off");
  else
    DEBUG_SERIAL.println("Error: Torque off failed");

  // Set Operating Mode
  if(dxl_0.write(DXL_ID_0, OPERATING_MODE_ADDR, (uint8_t*)&operatingMode, OPERATING_MODE_ADDR_LEN, TIMEOUT)&& dxl_1.write(DXL_ID_1, OPERATING_MODE_ADDR, (uint8_t*)&operatingMode, OPERATING_MODE_ADDR_LEN, TIMEOUT))
    DEBUG_SERIAL.println("Set operating mode");
  else
    DEBUG_SERIAL.println("Error: Set operating mode failed");

  // Turn on torque
  if(dxl_0.write(DXL_ID_0, TORQUE_ENABLE_ADDR, (uint8_t*)&turn_on, TORQUE_ENABLE_ADDR_LEN, TIMEOUT)&& dxl_1.write(DXL_ID_1, TORQUE_ENABLE_ADDR, (uint8_t*)&turn_on, TORQUE_ENABLE_ADDR_LEN, TIMEOUT))
    DEBUG_SERIAL.println("Torque on");
  else
    DEBUG_SERIAL.println("Error: Torque on failed");
}

void loop() {
 
    dx1_1.write(DXL_ID_1, LED_ADDR, (uint8_t*)&turn_on, LED_ADDR_LEN, TIMEOUT);
  delay(100);
  dxl_1.write(DXL_ID_1, GOAL_POSITION_ADDR, (uint8_t*)&a, GOAL_POSITION_ADDR_LEN, TIMEOUT);
  delay(1000);
  dxl_1.write(DXL_ID_1, LED_ADDR, (uint8_t*)&turn_off, LED_ADDR_LEN, TIMEOUT);
  delay(100);
  dxl_1.write(DXL_ID_1, GOAL_POSITION_ADDR, (uint8_t*)&b, GOAL_POSITION_ADDR_LEN, TIMEOUT);
  delay(1000);
}
2

The reason that you are receiving these errors is because you do not need to define a DYNAMIXEL2Arduino object for each connected DYNAMIXEL. The DYNAMIXEL2Ardino object controls the serial connection used to communicate with all DYNAMXIELs, not with a single actuator

As you are using the OpenRB, the DYNAMIXELShield initialization is not required.

Additionally, your function calls to the DYNAMIXEL2Arduino library are incorrect, and in your code you only configure and enable torque to actuator 0 and only send commands to actuator 1. I have edited your code to initialize and use ID 1, adding ID 0 will require similar code.

Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
using namespace ControlTableItem;
uint8_t operatingMode = POSITION_CONTROL_MODE;

uint32_t a;
uint32_t b;

void setup() {
  
    Serial.begin(57600);    

    DEBUG_SERIAL.begin(115200);   //Set debugging port baudrate to 115200bps
  while(!DEBUG_SERIAL);         //Wait until the serial port for terminal is opened
  
  // Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
  dxl.begin(57600);

  // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
 
  dxl.ping(DXL_ID_1);

// Turn off torque when configuring items in EEPROM area
  if( dxl.torqueOff(DXL_ID_1)) {
    DEBUG_SERIAL.println("DYNAMIXEL Torque off");
}
  else {
    DEBUG_SERIAL.println("Error: Torque off failed");
}

  // Set Operating Mode
  if( dxl.setOperatingMode(DXL_ID, OP_POSITION)) {
    DEBUG_SERIAL.println("Set operating mode");
}
  else {
    DEBUG_SERIAL.println("Error: Set operating mode failed");
}

  // Turn on torque
  if( dxl.torqueOn(DXL_ID_1)) {
    DEBUG_SERIAL.println("DYNAMIXEL Torque on");
}
  else {
    DEBUG_SERIAL.println("Error: Torque on failed");
}
}

void loop() {
 
    dxl.ledOn(DXL_ID_1);
    delay(100);
    dxl.setGoalPosition(DXL_ID_1, 0);
    delay(1000);
    dxl.ledOff(DXL_ID_1);
    delay(100);
    dxl.setGoalPosition(DXL_ID_1, 4080);
    delay(1000);
}

I wrote this code entirely from memory, and have not run it to ensure that it works exactly as written, but it should at least give you a good starting point.

I also recommend taking a look at the API documentation on the eManual page.