Dynamixel Packets?
Dynamixel Packets?
by Suicidal.Banana
Mon Dec 07, 2009 12:43 pm
Hey All,
First off let me begin by saying i did search, alot, for a few weeks now.
Im looking for a library of some sort (c++, where possible with visual c++ examples) that allows me to make dynamixel packets.
I've long covered 'the topic' of connecting my dynamixels to a pc, i know for a fact things are working (i have a xbee on my pc and one on a arbotix i/o board, they 'talk' great with default software) and i've already got myself a nice serial library (to send/recieve the packages)
However, the problem is that im too new to all this stuff to be able to determine how the dynamixel packets should look, whenever i try make one it doesnt create any response.
I've carefully read The dynamixel manual
I've closelly looked at (and tried to include some of) The USB2Dynamixel SDK
I've looked at and tried to use The Dynacommander source code
What i basiclly need is a bunch of fuctions that are used to create (and possibly send) dynamixel packets, im more aimed at solely create because id like to stick with my current serial class. (because its nicely multithreaded, if you can point me to a ax-12 lib inc serial that also does multithreading nativelly that be great too)
The packets i would like, are pretty much all, ofc i will need goal position (i dont grasp the concept of high and low byte at all btw) and temprature, but id also like to be able to set servo id, torgue limits and other possible options.
Once again sorry, to most of you this will be a pretty dumb query im sure, its just that i've recently started this hobby, and starting to realize i should've prolly started simpler, since im somewhat stuck in the begin of the project now, while im pretty sure it cant be that hard.
Any help is highly appreciated
First off let me begin by saying i did search, alot, for a few weeks now.
Im looking for a library of some sort (c++, where possible with visual c++ examples) that allows me to make dynamixel packets.
I've long covered 'the topic' of connecting my dynamixels to a pc, i know for a fact things are working (i have a xbee on my pc and one on a arbotix i/o board, they 'talk' great with default software) and i've already got myself a nice serial library (to send/recieve the packages)
However, the problem is that im too new to all this stuff to be able to determine how the dynamixel packets should look, whenever i try make one it doesnt create any response.
I've carefully read The dynamixel manual
I've closelly looked at (and tried to include some of) The USB2Dynamixel SDK
I've looked at and tried to use The Dynacommander source code
What i basiclly need is a bunch of fuctions that are used to create (and possibly send) dynamixel packets, im more aimed at solely create because id like to stick with my current serial class. (because its nicely multithreaded, if you can point me to a ax-12 lib inc serial that also does multithreading nativelly that be great too)
The packets i would like, are pretty much all, ofc i will need goal position (i dont grasp the concept of high and low byte at all btw) and temprature, but id also like to be able to set servo id, torgue limits and other possible options.
Once again sorry, to most of you this will be a pretty dumb query im sure, its just that i've recently started this hobby, and starting to realize i should've prolly started simpler, since im somewhat stuck in the begin of the project now, while im pretty sure it cant be that hard.
Any help is highly appreciated
by MikeG
Sun Dec 27, 2009 1:23 pm
Here's C# source for messing around with Dynamixel AX-12 packets.
http://forum.agaverobotics.com/viewtopic.php?f=9&t=8
http://forum.agaverobotics.com/viewtopic.php?f=9&t=8
