-
What model(s) of servo are you using?
Dynamixel AX12w -
Describe your control environment. Include the controller or interface, operating system (and version #) of your computer, and how you are powering your robot.
Arudino IDE on Jetson nano jetpack 4.5 (ubuntu 18.04)
- libraries:
DynamixelShield
Hello, I watched the youtube video on the customer service channel about controlling the Dynamixel with a potentiometer, and adapted the code to run on an ax12w. I am having an issue adapting the code to run a second motor in the opposite direction to mount them on a car.
The code I am about to present is modified from the velocity mode example sketch for the ArduinoShiled.
With the following code, ID 1 works well, however ID2 exhibits erratic behaviors .
For example, when I move the stick -, it will rotate the wrong direction before beginning in the correct direction.
I tried using UNIT_PERCENT as well, and I couldn’t get that working normally either.
Any advice would be appreciated.
#include <DynamixelShield.h>
#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560)
#include <SoftwareSerial.h>
SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
#define DEBUG_SERIAL soft_serial
#elif defined(ARDUINO_SAM_DUE) || defined(ARDUINO_SAM_ZERO)
#define DEBUG_SERIAL SerialUSB
#else
#define DEBUG_SERIAL Serial
#endif
const uint8_t DXL_ID = 1;
const uint8_t DXL_ID2 = 2;
const float DXL_PROTOCOL_VERSION = 1.0;
DynamixelShield dxl;
//This namespace is required to use Control table item names
using namespace ControlTableItem;
void setup() {
// put your setup code here, to run once:
// For Uno, Nano, Mini, and Mega, use UART port of DYNAMIXEL Shield to debug.
DEBUG_SERIAL.begin(115200);
// Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
dxl.begin(1000000);
//Serial.begin(9600);
// 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.torqueOff(DXL_ID2);
dxl.setOperatingMode(DXL_ID, OP_VELOCITY);
dxl.setOperatingMode(DXL_ID2, OP_VELOCITY);
dxl.torqueOn(DXL_ID);
dxl.torqueOn(DXL_ID2);
}
void loop() {
// put your main code here, to run repeatedly:
// Please refer to e-Manual(http://emanual.robotis.com) for available range of value.
// Set Goal Velocity using RAW unit
int val=analogRead(1);
int val2=val;
//Serial.println(val);
if (val >= 512) {
val=map(val,512,1023,1024,2047);
//Serial.println(val);
}
if (val <= 512) {
val=map(val,0,512,1023,0);
//Serial.println(val);
}
if (val2 >= 512) {
val2=map(val2,512,1023,0,1023);
//Serial.println(val2);
}
if (val2 <= 512) {
val2=map(val2,0,512,2047,1024);
//Serial.println(val2);
}
dxl.setGoalVelocity(DXL_ID,val);
dxl.setGoalVelocity(DXL_ID2,val2);
//0 ~ 2,047(0x7FF) can be used, the unit is about 0.1%.
//If a value in the range of 0 ~ 1,023 is used, it is stopped by setting to 0 while rotating to CCW direction.
//If a value in the range of 1,024 ~ 2,047 is used, it is stopped by setting to 1,024 while rotating to CW direction.
//That is, the 10th bit becomes the direction bit to control the direction.
//In Wheel Mode, only the output control is possible, not speed.
//For example, if it is set to 512, it means the output is controlled by 50% of the maximum output.
}