Statistics: Posted by Vittorio — Wed Jan 15, 2014 4:00 pm

Statistics: Posted by Al_f — Tue Nov 24, 2009 8:24 pm

Statistics: Posted by Al_f — Tue Nov 24, 2009 5:46 pm

Code:

//___________________________________________________________
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// Arduino to dynamixel via rs485
//___________________________________________________________
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

// Define/preallocate parameters
int i = 0;
byte startAddress;
byte servoID = 0xFE; // 0xFE is broadcast to all servos
byte ledOn = 0x01;
byte ledOff = 0x00;

//___________________________________________________________
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// Run setup Function
void setup() {
Serial.begin(57600);
}

//___________________________________________________________
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// Run main Function
void loop() {
//Transmission section

if (i%2 ==0){
activateServos(servoID, ledOn);
delay(200);
}else{
activateServos(servoID, ledOff);
delay(200);
}

i++;
if (i>1000){
  i=1;
  }
}

//___________________________________________________________________
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
//Function Definitions
//___________________________________________________________________
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


void activateServos (byte servoID, byte newValue){
  unsigned int checksum_ACK;
  byte notchecksum;
  //startAddress = 0X18;     // Enabling torque for first time
  startAddress = 0X19;     // Turning on led
   
  checksum_ACK =  servoID + 0x03 + 0x03 + startAddress + newValue;
  notchecksum = ~checksum_ACK;
 
  digitalWrite(2,HIGH);     // Notify max485 transciever to accept tx
  delay(5);                 // Allow this to take effect
 
  Serial.print(0xFF,BYTE);  // 1.These 2 bytes are 'start message'
  Serial.print(0xFF,BYTE);  // 2.These 2 bytes are 'start message'
  Serial.print(servoID,BYTE);  // 3.ID is target servo or 0xfe which is broadcast mode
  Serial.print(0x03,BYTE);  // 4.Length of string
  Serial.print(0x03,BYTE);  // 5.Ping read write or syncwrite 0x01,2,3,83
  Serial.print(startAddress,BYTE);  // 6.Start address for data to be written
  Serial.print(newValue,BYTE);  //  7.Turning on signal
  Serial.print(notchecksum,BYTE); //8. the notchecksum

 
  delay(200); // allow last byte to go through
  digitalWrite(2,LOW);  // Notify max485 transciever to recieve
}


Statistics: Posted by Al_f — Tue Nov 24, 2009 3:40 pm