[ASK] Control multiple actuators with embedded C

[faris]

Excuse me everyone,,

I have a problem to make (example) a walking step with embedded C, because i dont fully understand about it.

Have you ever tried to control multiple actuators (dynamixel, especially all servos) with embedded C provided by Robotis (CM-510) to make a pose like ini motion page??
If you have an example(s) of that kind of program, could you please share it here??

I'm sorry for my bad english,, thanks in advance

[siempre.aprendiendo]

Hi and welcome Faris

Have you read Dynamixel Synchronization Control? I think it can help you.

By the way, do you know the Robotis support website? You will find there almost all the information you will need about Robotis products!

You also will find here some additional information about programming CM-510 in C.

[faris]

Hello Mr. siempre.aprendiendo

I have read the dynamixel sync program and instructions,
but I still confused about the maths function in the program.
could you please tell me how it works??

by the way, Thanks for your reply and advice.

[siempre.aprendiendo]

Which math funcions do you refer to?

Oh, "phase[i] = 2*PI * (float)i / (float)NUM_ACTUATOR;" and "GoalPos = (int)((sin(theta+phase[i]) + 1.0) * (float)AmpPos);" ? Don't worry, is only an example of movement calculation.