102 lines
4.1 KiB
C++
102 lines
4.1 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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#define TIMEOUT 10 //default communication timeout 10ms
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#define BROADCAST_ID 254
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#define MODEL_NUMBER_ADDR 0
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#define MODEL_NUMBER_LENGTH 2
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DYNAMIXEL::InfoFromPing_t recv_info[32]; //Set the maximum DYNAMIXEL in the network to 32
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uint16_t model_num = 0;
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uint8_t ret = 0;
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uint8_t recv_count = 0;
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const uint8_t DXL_ID = BROADCAST_ID;
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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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void setup() {
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// put your setup code here, to run once:
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// Use UART port of DYNAMIXEL Shield to debug.
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DEBUG_SERIAL.begin(115200); //Set debugging port baudrate to 115200bps
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while(!DEBUG_SERIAL); //Wait until the serial port for terminal is opened
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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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DEBUG_SERIAL.print("Ping for PROTOCOL ");
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DEBUG_SERIAL.print(DXL_PROTOCOL_VERSION, 1);
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DEBUG_SERIAL.print(", ID ");
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DEBUG_SERIAL.println(DXL_ID);
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ret = dxl.ping(DXL_ID, recv_info, sizeof(recv_info), sizeof(recv_info)*3);
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if(ret > 0) {
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while (recv_count < ret) {
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DEBUG_SERIAL.print("DYNAMIXEL Detected!");
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dxl.read(recv_info[recv_count].id, MODEL_NUMBER_ADDR, MODEL_NUMBER_LENGTH, (uint8_t*)&model_num, sizeof(model_num), TIMEOUT);
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DEBUG_SERIAL.print(", ID: ");
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DEBUG_SERIAL.print(recv_info[recv_count].id);
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DEBUG_SERIAL.print(" Model Number: ");
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DEBUG_SERIAL.println(model_num);
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recv_count++;
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}
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} else {
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DEBUG_SERIAL.println("ping failed!");
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}
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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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} |