Dynamixel - Revision history

Jca: /* Sample rhdconfig entry */

2013-10-26T06:45:02Z

Sample rhdconfig entry

← Older revision		Revision as of 08:45, 26 October 2013
Line 39:		Line 39:

	In this example only servo 0,3,4 of the 5 servos are connected.		In this example only servo 0,3,4 of the 5 servos are connected.
	The actual servo ID and interface speed is defined in the teensy firmware.		The actual servo ID (1,2,3,4,5) and interface speed (500kbit/s) is defined in the teensy firmware.

	<! --		<! --

Jca: /* Sample rhdconfig entry */

2013-10-26T06:43:59Z

Sample rhdconfig entry

← Older revision		Revision as of 08:43, 26 October 2013
Line 37:		Line 37:

	===Sample rhdconfig entry===		===Sample rhdconfig entry===

			In this example only servo 0,3,4 of the 5 servos are connected.
			The actual servo ID and interface speed is defined in the teensy firmware.

	<! --		<! --

Jca: /* Sample rhdconfig entry */

2013-10-26T06:37:19Z

Sample rhdconfig entry

← Older revision		Revision as of 08:37, 26 October 2013
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	* dev is USB interface to teency 2 board		* dev is USB interface to teency 2 board
	* dead zone (with no movement around target position) (0..255)		* dead zone (with no movement around target position) (0..255)
	* safety > joystick		* safety > joystick (higher number, to get index to manual overwrite button - not used pt)
	* debug if 1 then some errors during startup is ignored and more text printed		* debug if 1 then some errors during startup is ignored and more text printed
	-- >		-- >

Jca: /* Sample rhdconfig entry */

2013-10-26T06:35:15Z

Sample rhdconfig entry

← Older revision		Revision as of 08:35, 26 October 2013
Line 38:		Line 38:
	===Sample rhdconfig entry===		===Sample rhdconfig entry===

	<!--		<! --
	steering interface		steering interface
	* servo values (name from servo0 to servo10, value is "minpos centerpos maxpos scale",		* servo values (name from servo0 to servo10, value is "minpos centerpos maxpos scale",
Line 47:		Line 47:
	* safety > joystick		* safety > joystick
	* debug if 1 then some errors during startup is ignored and more text printed		* debug if 1 then some errors during startup is ignored and more text printed
	-->		-- >
	<dynamixel enable="true" lib="dynamixel.so.1"		<dynamixel enable="true" lib="dynamixel.so.1"
	critical="true"		critical="true"

Jca: Created page with "The plug-in interfaces to a number of dynamixel servos - build for version MX-28, but may work with others, as most registers in the servo interface is compatible. ===Start s..."

2013-10-26T06:34:35Z

Created page with "The plug-in interfaces to a number of dynamixel servos - build for version MX-28, but may work with others, as most registers in the servo interface is compatible. ===Start s..."

New page

The plug-in interfaces to a number of dynamixel servos - build for version MX-28, but may work with others, as most registers in the servo interface is compatible.

===Start sequence===

The servos must have power before the a usb client is connected to the teensy controller, i.e. before RHD is started.
The controller reads at start-up all registers from the servo, and assumes that all servos with no battery voltage reported is not connected, and thus stops receiving status from these servos.

===Interface===

The interface is through a microprocessor Atmel mega32u4 (teensy 2), the code for the microprocessor is in a subdirectory to the plugin code.

The microcontroller can be operated from a serial terminal (putty), and has on-line help. It is fully text oriented.

===Read variables===

The plugin has the following (configured for (up to) 5 servos)

servoPos[5] Current angle of the servo in degrees x 10
servoMin[5] Minimum servo angle (in degrees x 10) - defined in rhdconfig.xml - never updated
servoMax[5] Maximum servi angle (in degrees x 10) - defined in rhdconfig.xml - never updated
servoVel[5] Current servo velocity - as reported by the servo (i.e. not converted to degrees/sec)
servoLoad[5] Current servo load - as reported by the servo (motor current based)
servoVolt[5] Current battery voltage, measured by the servo (in volt x 10)
servoTemp[5] Current temperature in degrees C.
servoComErr[5] Count of communication errors (crc-fail, rx timeout, etc)
servoIntRef[5] Reference position in servo units (12bit unsigned)
servoIntPos[5] Current position in servo units (12 bit unsigned)
servoUpdCnt[5] Number of status updates received from each servo.

===Write variables===

The servos are controlled by an angle reference for each servo (in degrees x 10).
The center position is defined in the rgdconfig.xml file.

servoref[5]

===Sample rhdconfig entry===


<dynamixel enable="true" lib="dynamixel.so.1"
critical="true"
safety="2"
dev="/dev/ttyACM0"
servo0 = "1200 2450 3700 1.1377778"
servo3 = "1300 2560 3800 1.1377778"
servo4 = "300 800 1400 1.1377778"
deadzone="3"
debug="1">
<dxlinit msg="i=0"/>
<dxlinit msg="s=1"/>
<dxlinit msg="j=0"/>
<dxlinit msg="help"/>
</dynamixel>