Update 5/5/2022
Success! I have found a solution for a 2XL-430 (ID=11 and 12) hooked up on 485-EXP and powered at 12V, while the OpenCM-904/C is separately powered at 7.4V. I am using a USB Cable (COM4) to download the sketch “RC_485_EXP_Serial_Protocol.ino” listed below from ARDUINO 1.8.16 on the PC (Windows 10). I am also using a USB BT-410 Dongle on the PC (COM24) and on the OpenCM-904/C a BT-410 Receiver connected to its 4-pin UART Port (i.e. Serial2). I also use the Debugging Tool on TASK V.2 to act as a Virtual RC-100 Controller (see screen capture below):
The listing of the sketch “RC_485_EXP_Serial_Protocol.ino” follows (note that it uses only “RC100.h” and “Dynamixel2Arduino.h”:
#include <RC100.h>
#include <Dynamixel2Arduino.h>
#define DXL_SERIAL_3 Serial3 //Serial3 is for DXL Port going to 485-EXP Board
#define DEBUG_SERIAL Serial
const uint8_t DXL_DIR_PIN_3 = 22; //“22” is DIR_PIN for 485-EXP Board
Dynamixel2Arduino dxl_3(DXL_SERIAL_3, DXL_DIR_PIN_3);
RC100 Controller;
uint16_t RcvData = 0;
uint32_t newGoalPosition = 0;
uint8_t id = 0;
uint32_t time_out = 100;
//This namespace is required to use Control table item names
using namespace ControlTableItem;
void setup() {
// put your setup code here, to run once:
Controller.begin(2);
int8_t found_dynamixel = 0;
// Use UART port of DYNAMIXEL Shield to debug.
DEBUG_SERIAL.begin(57600); //set debugging port baudrate to 57600 bps
while(!DEBUG_SERIAL); //Wait until the serial port is opened
dxl_3.begin(1000000); // need to match with DXLs baud rate used via Dynamixel Wizard
int8_t protocol = 2;
dxl_3.setPortProtocolVersion((float)protocol);
DEBUG_SERIAL.println("### SCANNING 485-EXP BOARD ");
DEBUG_SERIAL.print("SCAN PROTOCOL ");
DEBUG_SERIAL.println(protocol);
for(int id = 0; id < DXL_BROADCAST_ID; id++) {
//iterate until all ID in each baudrate is scanned.
if(dxl_3.ping(id)) {
DEBUG_SERIAL.print("ID : “);
DEBUG_SERIAL.print(id);
DEBUG_SERIAL.print(”, Model Number: ");
DEBUG_SERIAL.println(dxl_3.getModelNumber(id));
found_dynamixel++;
if (dxl_3.torqueOff(id))
DEBUG_SERIAL.println(“DYNAMIXEL Torque OFF”);
else
DEBUG_SERIAL.println(“Error: Torque OFF failed”);
if (dxl_3.setOperatingMode(id, (float) OP_POSITION)) // Position Control mode
DEBUG_SERIAL.println(“Position Control mode OK”);
else
DEBUG_SERIAL.println(“Error: Position Control mode failed”);
if (dxl_3.torqueOn(id))
DEBUG_SERIAL.println(“DYNAMIXEL Torque ON”);
else
DEBUG_SERIAL.println(“Error: Torque ON failed”);
}
}
DEBUG_SERIAL.print(“Total “);
DEBUG_SERIAL.print(found_dynamixel);
DEBUG_SERIAL.println(” DYNAMIXEL(s) found!”);
dxl_3.setGoalPosition(11, 2048); // Init Positions for DXL 11 and 12
dxl_3.setGoalPosition(12, 2048);
}
void loop() {
// put your main code here, to run repeatedly:
RcvData = 0;
if (Controller.available())
{
RcvData = Controller.readData();
}
if(RcvData == (RC100_BTN_U + RC100_BTN_1)) {
id = 11;
newGoalPosition = dxl_3.readControlTableItem(PRESENT_POSITION,id,time_out) + 50;
if (newGoalPosition <= 4095){
dxl_3.setGoalPosition(id, newGoalPosition);
delay(250);
}
else {
newGoalPosition = 4095;
}
}
if(RcvData == (RC100_BTN_D + RC100_BTN_1)) {
id = 11;
newGoalPosition = dxl_3.readControlTableItem(PRESENT_POSITION,id,time_out) - 50;
if (newGoalPosition >= 0){
dxl_3.setGoalPosition(id, newGoalPosition);
delay(250);
}
else {
newGoalPosition = 0;
}
}
I wrote the code as plainly as possible, so that you can adapt it in any way you want to.
Good luck on your project.
Now I can program the master controller and actuate the motors successfully. The main reason of my previous failure is when using the example code I mixed Dynamixel2Arduino and DynamixelSDK library, due to my short knowledge about how to play with RC100 and BT410 modules (I thought they can only work with DynamixelSDK instead of Dynamixel2Arduino). So the connection build but the motor can not understand well the command. 