Servo: Dynamixel AX12a (1, 2)
Mikrokontroller: OpenRB-150
I want to learn about robotics, so I just learned to use a dynamixel servo which is said to be widely used in several projects, I have 2 servos that already have different IDs but I don’t understand how to make one of the servos move at a different angle, I only have programming example from Program control 2 dynamixel to the same degree can anyone help me to learn this? or provide some similar programming examples
I’ve tried the example from Dynamixel2Arduino and modified it a bit but the servo movement doesn’t move at the same time. Any suggestions?
here the programs:
#include <Dynamixel2Arduino.h>
// Please modify it to suit your hardware.
#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
#include <SoftwareSerial.h>
SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
#define DXL_SERIAL Serial
#define DEBUG_SERIAL soft_serial
const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
#define DXL_SERIAL Serial
#define DEBUG_SERIAL SerialUSB
const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
#define DXL_SERIAL Serial1
#define DEBUG_SERIAL SerialUSB
const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
#define DXL_SERIAL Serial3
#define DEBUG_SERIAL Serial
const int DXL_DIR_PIN = 22;
#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
#define DXL_SERIAL Serial3
#define DEBUG_SERIAL Serial
const int DXL_DIR_PIN = 84; // OpenCR Board’s DIR PIN.
#elif 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
const uint8_t DXL_ID = 1;
const uint8_t DXL_ID2 = 2;
const float DXL_PROTOCOL_VERSION = 1.0;
Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
//This namespace is required to use Control table item names
using namespace ControlTableItem;
void setup() {
// put your setup code here, to run once:
// Use UART port of DYNAMIXEL Shield to debug.
DEBUG_SERIAL.begin(115200);
while(!DEBUG_SERIAL);
// Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
dxl.begin(1000000);
// Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
// Get DYNAMIXEL information
dxl.ping(DXL_ID);
dxl.ping(DXL_ID2);
// Turn off torque when configuring items in EEPROM area
dxl.torqueOff(DXL_ID);
dxl.setOperatingMode(DXL_ID, OP_POSITION);
dxl.torqueOn(DXL_ID);
dxl.torqueOff(DXL_ID2);
dxl.setOperatingMode(DXL_ID2, OP_POSITION);
dxl.torqueOn(DXL_ID2);
// Limit the maximum velocity in Position Control Mode. Use 0 for Max speed
dxl.writeControlTableItem(PROFILE_VELOCITY, DXL_ID, 30);
// Limit the maximum velocity in Position Control Mode. Use 0 for Max speed
dxl.writeControlTableItem(PROFILE_VELOCITY, DXL_ID2, 30);
}
void loop() {
// put your main code here, to run repeatedly:
// Please refer to e-Manual(DYNAMIXEL Shield) for available range of value.
// Set Goal Position in RAW value
dxl.setGoalPosition(DXL_ID, 1000);
dxl.setGoalPosition(DXL_ID2, 20);
int i_present_position = 0;
float f_present_position = 0.0;
int i_present_position2 = 0;
float f_present_position2 = 0.0;
while (abs(1000 - i_present_position) > 10)
{
i_present_position = dxl.getPresentPosition(DXL_ID);
DEBUG_SERIAL.print("Present_Position(raw) : ");
DEBUG_SERIAL.println(i_present_position);
}
delay(1000);
// Set Goal Position in DEGREE value
dxl.setGoalPosition(DXL_ID, 170, UNIT_DEGREE);
while (abs(170 - f_present_position) > 2.0)
{
f_present_position = dxl.getPresentPosition(DXL_ID, UNIT_DEGREE);
DEBUG_SERIAL.print("Present_Position(degree) : ");
DEBUG_SERIAL.println(f_present_position);
}
delay(1000);
//SSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSS//
while (abs(20 - i_present_position2) > 10)
{
i_present_position2 = dxl.getPresentPosition(DXL_ID2);
DEBUG_SERIAL.print("Present_Position(raw) : ");
DEBUG_SERIAL.println(i_present_position2);
}
delay(1000);
// Set Goal Position in DEGREE value
dxl.setGoalPosition(DXL_ID2, 120, UNIT_DEGREE);
while (abs(120 - f_present_position2) > 2.0)
{
f_present_position2 = dxl.getPresentPosition(DXL_ID2, UNIT_DEGREE);
DEBUG_SERIAL.print("Present_Position(degree) : ");
DEBUG_SERIAL.println(f_present_position2);
}
}