Hello,
I want to know if it is possible to use Dynamixel AX-12A actuators (http://www.crustcrawler.com/motors/AX12/index.php) with Arduino. In my project, I'm using 2 normal servos and 2 AX-12A. I have no problem with the normal servos, but I have serious issues with my AX-12A. I'm trying to send information packet to my AX-12A with a virtual serial communication ( with SoftwareSerial), but it doesn't work.
I want the commands that I send from my computer (through the usb cable) to be sent to my normal servos or to my AX-12A through my SofwareSerial port. For the AX-12A communication buffer, I'm using this : http://www.robotshop.com/productinfo.aspx?pc=RB-Dfr-142&lang=fr-CA
Finaly, this is my code :
#include <Servo.h>
#include <SoftwareSerial.h>
int incomingChar = 0;
int pos1 = 90;
int pos2 = 90;
int i=0;
Servo grip1;
Servo grip2;
SoftwareSerial axSerial(13,8);
void axSerialWrite(int id);
void setup()
{
grip1.attach(7);
grip1.write(pos1);
grip2.attach(2);
grip2.write(pos2);
Serial.begin(9600);
axSerial.begin(57600);
//Set the speed on all AX-12A
axSerial.print(0xFF,HEX);
axSerial.print(0xFF,HEX);
axSerial.print(0xEF,HEX);
axSerial.print(0x04,HEX);
axSerial.print(0x03,HEX);
axSerial.print(0x20,HEX);
axSerial.print(0x00,HEX);
axSerial.print(0xE9,HEX);
}
void loop()
{
if (Serial.available() > 0)
{
incomingChar = Serial.read();
}
switch(incomingChar)
{
case 'g':
grip1.write(52);
pos1=50;
break;
case 'h':
grip1.write(130);
pos1=172;
break;
case 'i':
grip2.write(49);
pos2=55;
break;
case 'j':
grip2.write(135);
pos2=95;
break;
case 'w':
delay(5000);
for(i=pos1;i>=135;i-=3)
{
grip1.write(i);
pos1=i;
delay(100);
}
delay(5000);
for(i=pos1;i>=95;i-=3)
{
grip1.write(i);
pos1=i;
delay(100);
}
break;
case 'x':
grip1.write(172);
pos1=172;
break;
case 'y':
delay(5000);
for(i=pos2;i>=155;i-=3)
{
grip2.write(i);
pos2=i;
delay(100);
}
delay(5000);
for(i=pos2;i>=95;i-=3)
{
grip2.write(i);
pos2=i;
delay(100);
}
break;
case 'z':
grip2.write(179);
pos2=179;
break;
//====================Commands for AX-12A========================
case 'a':
axSerialWrite(2);
axSerial.print(0x2B8,HEX);
axSerial.print(0x20,HEX);
break;
case 'b':
axSerialWrite(2);
axSerial.print(0x18D,HEX);
axSerial.print(0x4B,HEX);
break;
case 'c':
axSerialWrite(2);
axSerial.print(0x55,HEX);
axSerial.print(0x83,HEX);
break;
case 'k':
axSerialWrite(2);
axSerial.print(0x3EF,HEX);
axSerial.print(0xE9,HEX);
break;
case 'd':
axSerialWrite(4);
axSerial.print(0x58,HEX);
axSerial.print(0x7E,HEX);
break;
case 'e':
axSerialWrite(4);
axSerial.print(0x3EE,HEX);
axSerial.print(0xE8,HEX);
break;
case 'f':
axSerialWrite(4);
axSerial.print(0x2BD,HEX);
axSerial.print(0x19,HEX);
break;
case 'l':
axSerialWrite(4);
axSerial.print(0x18B,HEX);
axSerial.print(0x4B,HEX);
break;
default:
break;
}
}
void axSerialWrite(int id)
{
axSerial.print(0xFF,HEX);
axSerial.print(0xFF,HEX);
if(id==2)
axSerial.print(0x02,HEX);
else
axSerial.print(0x04,HEX);
axSerial.print(0x04,HEX);
axSerial.print(0x03,HEX);
axSerial.print(0x1E,HEX);
}
