hi everyone, I am new with Arduino and dynamixel. I have downloaded library from GitHub and it's working well.
The problem is when the dynamixel power is off and if I manually displace its position (in any direction( suppose from 0 to 6000 or from 0 to -4000) and when I power on it gets home/goal position (which is set 0) by rotating any of the direction where the home position is nearer (suppose if I manually rotate it at from 0 to -4000, the Arduino assumes -4096 as 0 position therefore the motor spins just from -4000 to -4096 but actually it should rotate in other direction from -4000 to 0 position). It seems the Arduino controller/programming is not recognizing the present position of the dynamixel when I switch on the power again. therefore, I need a program which can read the present position of MX28 so that on powering on it can recognize its current position and then it can rotate in the right direction to get the goal position (any set position).
For example, dynamixel is connected with the Arduino (multi-turn mode) and its present position is 4000. Now I do switch off the dynamixel and rotate it further at 6000 position manually. I do power on and run the Arduino code and now it should rotate from 6000 to 0 position (as goal position is set 0) but it rotates up to 4096 only, which proves Arduino is not recognizing its position as 6000 and now this 4096 position is read as 0 position.
I have also used the Wizard dynamixel software which worked well. It can read the present position of dynamixel servo even when we manually rotate the motor (on switch off) and connect it again with this software. The servo rotates from 6000 position onwards to 0 which is all right.
Thanks everyone for any suggestion