Hello, thank you for the information Well, I am working with XL 320 servos for a hexapod robot and I want to command two motors synchronously with the example sync_read_write_raw () So do you have any idea about this sync read write functions ?
Hi, your approach is very interesting but me myself never used synchronous commands with Dynamixels. My programs were commanding servos sequentially which was good enough to move quadruped robot. In reality there is no noticeable delay if you eg. set goal position one servo after another. Maybe try to move your hexapod this way first? Btw: I took a look on Github at this sync_read_write_raw() function and maybe I will try this as well. The thing is that there is not many examples of usage.
@@slawomirkorbas yes, the big challenge is that the two motors that we are commanding synchronously with same goal velocity are responding differently. in other word, they have different present velocity when working with op_velocity mode. could we use PID to correct this problem ? is it possible somehwo making them responding with our goal velocity ? what about connecting an arduino to an openCM904 C Board is it possible?
To control dynamixels using uart (without arduino hat) you need to use uart -> TTL or RS485 adapter. I belive Robotis have something like this. Otherwise you could implement simple protocol sending frames over serial (UART) to arduino. Each data frame would include servo motor id, parameter name to change, new value. Eg. ,,. This is just early idea.
Hello, thank you for the information
Well, I am working with XL 320 servos for a hexapod robot and I want to command two motors synchronously with the example sync_read_write_raw ()
So do you have any idea about this sync read write functions ?
Hi, your approach is very interesting but me myself never used synchronous commands with Dynamixels. My programs were commanding servos sequentially which was good enough to move quadruped robot. In reality there is no noticeable delay if you eg. set goal position one servo after another. Maybe try to move your hexapod this way first? Btw: I took a look on Github at this sync_read_write_raw() function and maybe I will try this as well. The thing is that there is not many examples of usage.
@@slawomirkorbas yes, the big challenge is that the two motors that we are commanding synchronously with same goal velocity are responding differently. in other word, they have different present velocity when working with op_velocity mode.
could we use PID to correct this problem ?
is it possible somehwo making them responding with our goal velocity ?
what about connecting an arduino to an openCM904 C Board is it possible?
Hello I have a question , what if I want control the servos using data that comes via serial port, how would i go about that? Thank you
To control dynamixels using uart (without arduino hat) you need to use uart -> TTL or RS485 adapter. I belive Robotis have something like this. Otherwise you could implement simple protocol sending frames over serial (UART) to arduino. Each data frame would include servo motor id, parameter name to change, new value. Eg. ,,. This is just early idea.