Pages: [1]   Go Down
Author Topic: Using Dynamixel AX-12A with Arduino  (Read 2298 times)
0 Members and 1 Guest are viewing this topic.
Offline Offline
Newbie
*
Karma: 0
Posts: 1
View Profile
 Bigger Bigger  Smaller Smaller  Reset Reset

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 :
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);
}
Logged

Rome
Offline Offline
Full Member
***
Karma: 2
Posts: 187
I love Arduino
View Profile
 Bigger Bigger  Smaller Smaller  Reset Reset


Look at savageelectronics blog: http://savageelectronics.blogspot.it/2011/01/arduino-y-dynamixel-ax-12.html

Logged

Offline Offline
Newbie
*
Karma: 0
Posts: 2
View Profile
 Bigger Bigger  Smaller Smaller  Reset Reset

Hello!
I think that I can help you with your problem. There is a new board called CM-900 is from ROBOTIS (Bioloid, Darwin-OP) and they are giving this board for beta-testing you just need to pay the shipment to your place!
Enter to this forum:

http://www.robotsource.org/xe/Circle_CM9_Developer_World

Create an account and ask for one! you only need to explain one of your projects and they will send it to you smiley
Hope it helps! it's a good option for Ax and Rx/Mx Dynamixel series.
Logged

Pages: [1]   Go Up
Jump to: