Hi @Yogurt_Man and @WaldoPepper , thanks for responding!
I tried connecting my OpenCR9.04 to a 7.4V supply as in the image you sent but no change… I also read through the “id” example but I don’t think I can set any IDs without first having them recognized.
I did also set the preprocessor lines in the scan example (and others) as you suggested @Yogurt_Man (will paste that example to confirm I understood) but again no change.
Any other ideas? May post to the arduino forum too perhaps.
Thanks again,
Sean
/*******************************************************************************
* Copyright 2016 ROBOTIS CO., LTD.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/
#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 uint8_t 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 uint8_t 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 uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
//#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
// #define DXL_SERIAL Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
// #define DEBUG_SERIAL Serial
// const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
//#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
// // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
// // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
// #define DXL_SERIAL Serial3
// #define DEBUG_SERIAL Serial
// const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
//#else // Other boards when using DynamixelShield
// #define DXL_SERIAL Serial1
// #define DEBUG_SERIAL Serial
// const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
//#endif
#define DXL_SERIAL Serial1 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
#define DEBUG_SERIAL Serial
const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
#define MAX_BAUD 5
const int32_t buad[MAX_BAUD] = {57600, 115200, 1000000, 2000000, 3000000};
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:
int8_t index = 0;
int8_t found_dynamixel = 0;
// Use UART port of DYNAMIXEL Shield to debug.
DEBUG_SERIAL.begin(115200); //set debugging port baudrate to 115200bps
while(!DEBUG_SERIAL); //Wait until the serial port is opened
for(int8_t protocol = 1; protocol < 3; protocol++) {
// Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
dxl.setPortProtocolVersion((float)protocol);
DEBUG_SERIAL.print("SCAN PROTOCOL ");
DEBUG_SERIAL.println(protocol);
for(index = 0; index < MAX_BAUD; index++) {
// Set Port baudrate.
DEBUG_SERIAL.print("SCAN BAUDRATE ");
DEBUG_SERIAL.println(buad[index]);
dxl.begin(buad[index]);
for(int id = 0; id < DXL_BROADCAST_ID; id++) {
//iterate until all ID in each buadrate is scanned.
if(dxl.ping(id)) {
DEBUG_SERIAL.print("ID : ");
DEBUG_SERIAL.print(id);
DEBUG_SERIAL.print(", Model Number: ");
DEBUG_SERIAL.println(dxl.getModelNumber(id));
found_dynamixel++;
}
}
}
}
DEBUG_SERIAL.print("Total ");
DEBUG_SERIAL.print(found_dynamixel);
DEBUG_SERIAL.println(" DYNAMIXEL(s) found!");
}
void loop() {
// put your main code here, to run repeatedly:
}
