Hi @gapzap, thanks for your question and welcome to our Community Page! While I personally am unfortunately not experienced with the ESP32 family of boards, I should be able to provide some information about the libraries that should be helpful based on your question.
The DYNAMIXEL2Arduino libraries currently include an example named “read_write_ControlTableItem.ino” which provides a number of preset Control Table settings listed that can be easily called in the example. In the example, it includes Profile Velocity and Profile Acceleration settings as well.
In lines 185 - 188 of the example, it shows Goal Velocity being written to- it should be possible to test the example for your uses by replacing the Goal Velocity Control Table Item with one of your desired settings to edit.
Let me know if this works for you, or whether you have any other questions we can help with! For more information about control with ESP32, I’ll tag @Yogurt_Man and @willson for any suggestions they may be able to provide.
Hey Andrew, excellent suggestion! I’ll try it and will update here.
As for the ESP32, since I am using the Arduino IDE with ESP32 Arduino core, the ESP is just like another Arduino
You can find various Control Table Items from the eManual below.
If you click on the readControlTableItem() or writeControlTableItem() you’ll see the item index, but please note that not all of them are available as the list is sum of all control table items of all DYNAMIXEL series.
Since XC430 does have Profile Acceleration and Velocity in its control table, you may use PROFILE_ACCELERATION and PROFILE_VELOCITY as below.
Hello all,
Quick update here to say that the provided solution worked perfectly!
I have to mention that I am now using XM430-W350-R but will be trying this on XC430 later on.
so this worked: (I adjusted the values to my needs)
Hi @gapzap, thanks for checking in and notifying us of the solution!
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