Hi,
I'm currently working with an arduino mega and a dynamixel xl320 servomotor (http://support.robotis.com/en/product/actuator/dynamixel_x/xl_series/xl-320.htm).
I can wire it like Approach 2 and 3 in this blog entry: Walker's Blog. The Servomotor is working with its own protocol Dynamixel 2.0 (Protocol 2.0)
There is an library for the servomotor, which you can use: (GitHub - hackerspace-adelaide/XL320: Arduino library for Dynamixel XL-320 servos). The whole system has to work with UART protocol, which is just half duplex, so theres just one data line.
My actual problem: Sending data is not a big deal with the right library. But receiving is a mess. So first I want to know, how I can read an Package/Array of bytes, received in binary logic, which are expressing hexadezimal numbers/ one byte, to work with. So most of the time there are around.
What would help me for the beginning: How can I read out of a signal wire the serial data (Baudrate 57600) and get them in one array? If possible in hexadezimal numbers and not binarys. Maybe some of you have a good link to read, or sth else, but I didnt found sth good for the first.
Thx for your help
Edit: The normal command order is that you send an package of bytes to the servo with the right ID and he sends a package of bytes back. This bytes can be transformed to hexadezimal numbers, which express the data.