80 lines
3.2 KiB
C++
80 lines
3.2 KiB
C++
/*******************************************************************************
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* Copyright 2016 ROBOTIS CO., LTD.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*******************************************************************************/
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#include <Dynamixel2Arduino.h>
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// Please modify it to suit your hardware.
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#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
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#include <SoftwareSerial.h>
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SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
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#define DXL_SERIAL Serial
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#define DEBUG_SERIAL soft_serial
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const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
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#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
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#define DXL_SERIAL Serial
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#define DEBUG_SERIAL SerialUSB
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const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
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#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
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#define DXL_SERIAL Serial1
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#define DEBUG_SERIAL SerialUSB
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const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
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#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
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#define DXL_SERIAL Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
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#define DEBUG_SERIAL Serial
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const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
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#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
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// For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
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// Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
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#define DXL_SERIAL Serial3
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#define DEBUG_SERIAL Serial
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const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
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#else // Other boards when using DynamixelShield
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#define DXL_SERIAL Serial1
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#define DEBUG_SERIAL Serial
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const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
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#endif
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const uint8_t DXL_ID = 1;
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const float DXL_PROTOCOL_VERSION = 2.0;
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Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
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//This namespace is required to use Control table item names
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using namespace ControlTableItem;
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void setup() {
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// put your setup code here, to run once:
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// Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
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dxl.begin(57600);
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// Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
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dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
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// Get DYNAMIXEL information
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dxl.ping(DXL_ID);
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}
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void loop() {
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// put your main code here, to run repeatedly:
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// Turn on the LED on DYNAMIXEL
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dxl.ledOn(DXL_ID);
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delay(500);
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// Turn off the LED on DYNAMIXEL
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dxl.ledOff(DXL_ID);
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delay(500);
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}
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