Dynamixel Instruction
instruction
by ryann2k1
Thu Sep 20, 2007 7:28 am
JonHylands wrote:I use SYNC_WRITE constantly with all my Bioloid stuff. All the walk sequences of MicroRaptor and BrainBot are all done strictly with SYNC_WRITE.
- Jon
I am still curious about what exactly the difference between SYNC_WRITE and REG_WR +ACTION?
cheers
ryann2k1
by JonHylands
Thu Sep 20, 2007 11:20 am
The main difference is you can set the position and speed of all the servos on your bus with one instruction. If you're trying to run at 30 Hz, and you've got 20 servos, you're looking at 600 instructions per second using REG_WRITE and ACTION, versus 30 instructions per second using SYNC_WRITE.
Plus, unless you turn off the response mode of your servos, you also have to wait for a response from each of those 600 commands before you can send the next.
Ideally, you need the time to actually read values from the servos. A single SYNC_READ followed by a set of READ_DATA instructions is much simpler.
- Jon
Plus, unless you turn off the response mode of your servos, you also have to wait for a response from each of those 600 commands before you can send the next.
Ideally, you need the time to actually read values from the servos. A single SYNC_READ followed by a set of READ_DATA instructions is much simpler.
- Jon
