ESP32 + DXL Shield MKR Mashup in ARDUINO

DYNAMIXEL Showcase
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UPDATE: Feb. 4 2023.

Today, I took a second look at this project and figured out my previous errors which were to trust the Functions ping() and scan() of the Dynamixel2Arduino library :face_with_open_eyes_and_hand_over_mouth:.

First, I tried the sample sketches position_mode and position_velocity for this setup and they worked fine for me - see screen captures below:

PositionMode_OK
PositionMode_OK1652×947 228 KB

VelocityMode_OK
VelocityMode_OK1650×978 234 KB

Next, I went back to my SyncReadWrite sketch, and found that I forgot to initialize my Serial Port properly. OOPS! Once that was fixed, my SyncReadWrite sketch WORKED FINE PHYSICALLY on my DXLs, however I kept getting PACKET ERROR 128 - see screen capture below:

SyncReadWriteOK
SyncReadWriteOK1969×962 320 KB

If @willson sees this post, may be he can help us understand what is going on.

Thus my conclusions at this time are:

  1. It is OK to use Adafruit Feather ESP32 V.2 with the MKR DXL Shield with the proper jumper wires used as described in my Post 1.

  2. The Dynamixel2Arduino Library seemed to work with this setup, but do not use/trust Functions ping() and scan().

  3. Although the DXLs seemed to respond properly to Goal Velocity and Goal Position commands (regular mode or in sync read/write mode). They always reported Packet Error 128, so the user must exercise vigilance!