Dynamixel - Current ( XM540-W270-R

Using Arduino Programming Questions
1

Hey!
I control my servo via a Nextion. Well, the angle can be adjusted to -90 or 90 degrees. But now I would like to control the current of the servo via the Nextion and have the value displayed on the screen. Unfortunately this doesn't happen. Does somebody has any idea?
Thanks!


#include <Dynamixel2Arduino.h>  

#include <SoftwareSerial.h> 
SoftwareSerial soft_serial(7, 8); 
#define DXL_SERIAL Serial
#define DEBUG_SERIAL soft_serial
const int DXL_DIR_PIN = 2;  // DYNAMIXEL Shield DIR PIN



const uint8_t DXL_ID = 1;
const float DXL_PROTOCOL_VERSION = 2.0;

Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);

using namespace ControlTableItem;

float angle = 0.0;
float prevAngle = 0.0;
//= ==  NEXTION LCD == ==
#include "Nextion.h"

// Deklarieren Nextion Buttons - (page id = 0, component id = 1, component name = "b0")
//============= Page 0 (Main) =================
NexButton inc = NexButton(0, 5, "b3");    
NexButton dec = NexButton(0, 6, "b4");  
NexButton ang1 = NexButton(0, 4, "b2");   NexButton ang2 = NexButton(0, 3, "b1");
NexButton ang3 = NexButton(0, 2, "b0");
NexText status = NexText(0, 7, "t0");
NexText status1 = NexText (0, 10, "t1"); 
NexSlider slider = NexSlider(0, 8, "h0"); 
NexText stromText = NexText (0, 9, "t2");

NexTouch *nex_listen_list[] = {
  &inc,
  &dec,
  &ang1,
  &ang2,
  &ang3,
  &slider,
  &stromText,
  NULL
};
// Creating callback for each button
void incPopCallback(void *ptr) {
  angle += 1;                              // Winkel um 1° erhöhen
  angle = (angle > 90.0) ? 90.0: angle;
}
void decPopCallback(void *ptr) {
  angle -= 1;                          // Winkel um 1° verringern
  angle = (angle < -90.0) ? -90.0: angle;
}
void ang1PopCallback(void *ptr) {
  angle = -90.0;
}
void ang2PopCallback(void *ptr) {
  angle = 90.0;
}
void ang3PopCallback(void *ptr) {
  angle = 0.0;
}

void sliderPopCallback (void*ptr) {
  uint32_t val = 0;
  slider.getValue(&val);
  int16_t goal_current = map(val, 0, 100, 0, 5200);
  dxl.writeControlTableItem(GOAL_CURRENT, DXL_ID, goal_current);

  char currentStr[10];
  sprintf(currentStr, "%d mA", goal_current);

  stromText.setText(currentStr);
}


void setup() {

  DEBUG_SERIAL.begin(115200);
  nexInit();

  inc.attachPop(incPopCallback, &inc);    
  dec.attachPop(decPopCallback, &dec);    
  ang1.attachPop(ang1PopCallback, &ang1);
  ang2.attachPop(ang2PopCallback, &ang2);  
  ang3.attachPop(ang3PopCallback, &ang3);  
  slider.attachPop(sliderPopCallback, &slider);
  status.setText("C");                    
  delay(100);
  status.setText("C");
  delay(100);
  dxl.begin(57600);
  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
  dxl.ping(DXL_ID);

  dxl.torqueOff(DXL_ID);
  dxl.setOperatingMode(DXL_ID, OP_POSITION);
  dxl.torqueOn(DXL_ID);

  dxl.writeControlTableItem(PROFILE_VELOCITY, DXL_ID, 30);

  dxl.setGoalPosition(DXL_ID, 0.0, UNIT_DEGREE);
}

void loop() {
  if (prevAngle != angle) {
    prevAngle = angle;  
    dxl.setGoalPosition(DXL_ID, angle, UNIT_DEGREE);
  }
 
  nexLoop(nex_listen_list);
}
2

Without datasheets that explain the communication protocol and a much more detailed explanation of what your code does
it is unlikely that somebody will take the big amount of time trying to understand all these details by analysing the code

3

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