DynamixelConfigure

This module let you configure Dynamixel servos. Please refer to dynamixel manual's control table.

Example XML definition

A simple example

  <module
      class = "DynamixelConfigure"
      name = "DynamixelConfigure"
      device = "/dev/cu.usbserial-A8006Esq"
  />

Name	Description	Type	Default
class	The class name for the module; must be "DynamixelConfigure".	string
name	The name of this instance of the module.	string
device	Path to serial device	string	/dev/cu.usbserial-A7005Lxn
baud_rate	Serial baud rate	int	1000000
max_servo_id	The maximum servo ID to scan for. This parameter must be increased if servos with higher IDs are used. The value can be decreased to speed up the start-up of the module.	int	32
adress	Adress	int	0
value	Value	int	1
force_model	Force the system to detect the servoes as certain model (should only by used if servo need resetting and the model number is corrupt). See dynamixel manuals for model number (MX-28T/MX-28R : 29, AX-12/AX-12+/AX-12A = 12, MX-106T/MX-106R = 320)	int	0
reset_mode	Enter reset mode. In this mode a dynamixel servo can be reseted to factory settings.	bool
scan_mode	Enter scan mode. In this mode all available id and baud rates are scaned to find missing dynamixels.	bool
quick_scan	If in scan mode. The module will only scan for servo with ID 0 - 20	bool

Name	Description
SET	if 1 the changes are written to dynaxmiel servos
ACTIVE	ID of the servo to write changes to. If 0 all servos found will be updated with the new settings.

Name	Description
RESET_MODE	One if the module is in RESET mode
CHANGE_MODE	One if the module is in CHANGE mode

Only tested with AX-12, MX-28, MX-106.

DynamixelConfigure.h
DynamixelConfigure.cc
DynamixelComm.h
DynamixelComm.cc
DynamixelServo.h
DynamixelServo.cc
DynamixelConfigure.ikc