Controlling Dynamixel Ax-12 With Arduino Mega

Question

I want to controll two dynamixel ax-12 servos using a arduino mega and I don`t know the commands that I should send to them using Serial.

Could anyone help me with this? (And please keep in mind that I don`t want any more hardware. Just arduino board)

• Sener: I believe that that site might help you; support.robotis.com/en/techsupport_eng.htm#product/dynamixel/… On the left menu, seek that menu path: Home > Software Help > Software development kit > Controller Embedded C
• Hazel: how to read position, and the hardware configuration ? pls help me

Answer 1

With Dynamixel library you can use servo this easily:

#include <DynamixelSerial.h>
void setup(){
 Dynamixel.begin(1000000,2); // Inicialize the servo at 1Mbps and Pin Control 2
}
void loop(){
 Dynamixel.move(1,0);
 delay(2000);
 Dynamixel.move(1,500);
 delay(2000);
 Dynamixel.move(1,1000);
 delay(2000);
}

Example moves servo and makes pauses of 2 sec.

Installation is easy:

Installation:

Copy the files from DynamixeSerial to your IDE libraries folder.

DynamixelSerial folder can be found here: https://sourceforge.net/projects/dynamixelforarduino/files/?source=navbar

• scottxiao: But how to connect the arduino and servo?The servo requires half-duplex serial port,but arduino is uart.I want to control the servo and also read the data from it.