Dynamixel AX-12A
Hello, I am using three AX-12A servo motors in my project. However, I am not sure how to control it by using Dynamixel shield and the example code. I can confirm that Dynamixel Wizard 2.0 can scan and find all three motors. And I can control each of them by using the example code (Examples—>DYNAMIXELShield—>Basic—>Position Mode). However, I am not sure how to control them together. Could you please give me some advice?
You should try the Sync_Read_Write examples in the Advanced folder for either Dynamixel2Arduino or DynamixelShield libraries.
Hi,
Thank you for your help. But I am still confused about the sync_read_write_position example code.
This example is designed for DYNAMIXEL X series and I am not sure that if I can use for AX series.
For example, from the attached screenshot, I am not sure how to change the highlighted code suite for the AX-12A. Also, can I ask what is the difference between the BROADCAST_ID and DXL_ID_CNT? Why the DXL_ID_CNT is used in the dxl.torqueOff and dxl.setOperatingMode but BROADCAST_ID is used in the dxl.torqueOn?
Best
Xiangyu
BROADCAST_ID is a special DXL ID which applies to ALL DXLs in your robot at once. So dxl.torqueOn(254) is equivalent to 3 commands dxl.torqueOn(1); dxl.torqueOn(2); dxl.torqueOn(3); (when applied to your case).
DXL_ID_CNT is the number of DXLs in your robot which is 3 in your case, and you already got that correctly. Your array DXL_ID_LIST[] is also set correctly.
For the actual addresses of Parameters Goal Position and Present Position, you need to read up on the ROBOTIS e-manual information specifically for the AX-12A:
Where you can see that Goal Position is at address 30, and its data length is only 2 bytes (not 4 bytes like for X series). For Present Position, its address is 36, data length is 2 bytes.
The possible Goal Position values for the AX-12A can only be between 0 and 1023.
The details of the actual Sync Read/Write packet set up should not have to be modified.
Hi, thank you for your advice!
So I will have a try that change the int32_t goal_position[2] = {1024, 2048}; to int32_t goal_position[2] = {0,1023}; and leave other details as the original. See if that works.
Thank you
Hello @Huiduan
The Goal Position parameter on AX-12A is only 2 bytes long, so you shouldn’t use int32_t, use int16_t instead.
Also I forgot to mention that AX12As can do Sync Write but NOT Sync Read.
Hello,
I changed all the int32_t to int16_t, but it still not works. Can I upload the entire code and could you please help me to check?
Also, if I would like to set different angle for each servo motor , how should I change the code?
The information for possible Goal Position values and corresponding horn angles is listed here
For example, “512” is straight up position for the horn.
You can also upload your code so that I can check it.
Which ARDUINO board are you using? OpenRB-150, OpenCM-904? Or something else?
I have modified the original ROBOTIS code so that it can work with two AX-12A
// Copyright 2021 ROBOTIS CO., LTD.
// Modified for AX12-A 3/8/2023
#include <Dynamixel2Arduino.h>
#define DXL_SERIAL Serial1
#define DEBUG_SERIAL Serial
const int DXL_DIR_PIN = A5; // DYNAMIXEL Shield DIR PIN for Adafruit ESP32 V2
const uint8_t BROADCAST_ID = 254;
const float DYNAMIXEL_PROTOCOL_VERSION = 1.0; // AX12A
const uint8_t DXL_ID_CNT = 2;
const uint8_t DXL_ID_LIST[DXL_ID_CNT] = {13, 14};
const uint16_t user_pkt_buf_cap = 128;
uint8_t user_pkt_buf[user_pkt_buf_cap];
// Starting address of the Data to read; Present Position = 36 for AX12A
const uint16_t SR_START_ADDR = 36;
// Length of the Data to read; Length of Position data of AX12A is 2 bytes
const uint16_t SR_ADDR_LEN = 2;
// Starting address of the Data to write; Goal Position = 30 for AX12A
const uint16_t SW_START_ADDR = 30;
// Length of the Data to write; Length of Position data of AX12A is 2 bytes
const uint16_t SW_ADDR_LEN = 2;
typedef struct sr_data{
int32_t present_position;
} __attribute__((packed)) sr_data_t;
typedef struct sw_data{
int32_t goal_position;
} __attribute__((packed)) sw_data_t;
sr_data_t sr_data[DXL_ID_CNT];
DYNAMIXEL::InfoSyncReadInst_t sr_infos;
DYNAMIXEL::XELInfoSyncRead_t info_xels_sr[DXL_ID_CNT];
sw_data_t sw_data[DXL_ID_CNT];
DYNAMIXEL::InfoSyncWriteInst_t sw_infos;
DYNAMIXEL::XELInfoSyncWrite_t info_xels_sw[DXL_ID_CNT];
Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
//This namespace is required to use DYNAMIXEL Control table item name definitions
using namespace ControlTableItem;
int16_t goal_position[2] = {450, 550}; // AX12A rotates between positions 450 and 550
uint8_t goal_position_index = 0;
void setup() {
// put your setup code here, to run once:
DEBUG_SERIAL.begin(115200);
while(!DEBUG_SERIAL);
dxl.begin(1000000); // AX12A set to 1 Mbps
dxl.setPortProtocolVersion(DYNAMIXEL_PROTOCOL_VERSION);
// Prepare the SyncRead structure
for(int i = 0; i < DXL_ID_CNT; i++){
dxl.torqueOff(DXL_ID_LIST[i]);
dxl.setOperatingMode(DXL_ID_LIST[i], OP_POSITION);
}
dxl.torqueOn(BROADCAST_ID);
// Fill the members of structure to syncRead using external user packet buffer
sr_infos.packet.p_buf = user_pkt_buf;
sr_infos.packet.buf_capacity = user_pkt_buf_cap;
sr_infos.packet.is_completed = false;
sr_infos.addr = SR_START_ADDR;
sr_infos.addr_length = SR_ADDR_LEN;
sr_infos.p_xels = info_xels_sr;
sr_infos.xel_count = 0;
for(int i = 0; i < DXL_ID_CNT; i++){
info_xels_sr[i].id = DXL_ID_LIST[i];
info_xels_sr[i].p_recv_buf = (uint8_t*)&sr_data[i];
sr_infos.xel_count++;
}
sr_infos.is_info_changed = true;
// Fill the members of structure to syncWrite using internal packet buffer
sw_infos.packet.p_buf = nullptr;
sw_infos.packet.is_completed = false;
sw_infos.addr = SW_START_ADDR;
sw_infos.addr_length = SW_ADDR_LEN;
sw_infos.p_xels = info_xels_sw;
sw_infos.xel_count = 0;
for(int i = 0; i < DXL_ID_CNT; i++){
info_xels_sw[i].id = DXL_ID_LIST[i];
info_xels_sw[i].p_data = (uint8_t*)&sw_data[i].goal_position;
sw_infos.xel_count++;
}
sw_infos.is_info_changed = true;
}
void loop() {
// put your main code here, to run repeatedly:
static uint32_t try_count = 0;
uint8_t i, recv_cnt;
// Insert a new Goal Position to the SyncWrite Packet
for(i = 0; i < DXL_ID_CNT; i++){
sw_data[i].goal_position = goal_position[goal_position_index];
}
// Update the SyncWrite packet status
sw_infos.is_info_changed = true;
DEBUG_SERIAL.print("\n>>>>>> Sync Instruction Test : ");
DEBUG_SERIAL.println(try_count++);
// Build a SyncWrite Packet and transmit to DYNAMIXEL
if(dxl.syncWrite(&sw_infos) == true){
DEBUG_SERIAL.println("[SyncWrite] Success");
for(i = 0; i<sw_infos.xel_count; i++){
DEBUG_SERIAL.print(" ID: ");DEBUG_SERIAL.println(sw_infos.p_xels[i].id);
DEBUG_SERIAL.print("\t Goal Position: ");DEBUG_SERIAL.println(sw_data[i].goal_position);
}
if(goal_position_index == 0)
goal_position_index = 1;
else
goal_position_index = 0;
} else {
DEBUG_SERIAL.print("[SyncWrite] Fail, Lib error code: ");
DEBUG_SERIAL.print(dxl.getLastLibErrCode());
}
DEBUG_SERIAL.println();
delay(250);
// Transmit predefined SyncRead instruction packet
// and receive a status packet from each DYNAMIXEL
recv_cnt = dxl.syncRead(&sr_infos);
if(recv_cnt > 0) {
DEBUG_SERIAL.print("[SyncRead] Success, Received ID Count: ");
DEBUG_SERIAL.println(recv_cnt);
for(i = 0; i<recv_cnt; i++){
DEBUG_SERIAL.print(" ID: ");
DEBUG_SERIAL.print(sr_infos.p_xels[i].id);
DEBUG_SERIAL.print(", Error: ");
DEBUG_SERIAL.println(sr_infos.p_xels[i].error);
DEBUG_SERIAL.print("\t Present Position: ");
DEBUG_SERIAL.println(sr_data[i].present_position);
}
}else{
DEBUG_SERIAL.print("[SyncRead] Fail, Lib error code: ");
DEBUG_SERIAL.println(dxl.getLastLibErrCode());
}
DEBUG_SERIAL.println("=======================================================");
digitalWrite(LED_BUILTIN, !digitalRead(LED_BUILTIN));
delay(750);
}
And I have verified that it works OK for Sync Write, but it will fail for Sync Read.
Hi roboteer,
Thank you for the help. I have tried the code you provided. I opened a blank sketch and copied the code. It did not work at the beginning. And I tried to change the library from Dynamixel2Arduino to DynamixelShield. Then the code works. But the code is to sync the servo motors to move in same angle, what if I need to request different angles for each motor, how should I change the code?
Best wishes
Huiduan
That code was for my own board so that it has a different DXL_DIR_PIN than yours, I am sure. Which controller are you using? You can try this free Kindle sample to learn more about Arduino and ROBOTIS hardware:
Right now, the DXLs Goal Positions are defined by the array goal_position[2] = {450, 550}; . Whereas, goal_position[0] is the first and common GP of both DXLs (=450) and goal_position[1] is the second and common GP of both DXLs (=550). So you will have to “rethink” the design of this goal_position array, and to make goal_position[0] points to DXL 1 only and goal_position[1] points to DXL 2 only, etc…
See the following post, where I used a different kind of Sync Read Write packet (deprecated by ROBOTIS, but I like it better) where every time that Function loop() iterates, it chooses a random GP value for each DXL.
goal_position[i] = (uint16_t) random(0,1023); // when applied to your set up with AX12s
You should be able to modify that approach for your needs.