MX-64AR with Arduino UNO (Dynamixel Shield)

[KoutarouTakahashi]

お世話になっております。MX-64ARをShieldで動かすために購入したのですが、シリアルモニタの表示がうまく行かず困っています。e-manualを読んでライブラリをインクルードした上でサンプルのscan_dynamixelとidを動かしました。しかし、文字化けがひどかったのでArduinoの0→7,1→8ピンをジャンパ線で接続したところscan_dynamixelは SCAN PROTOCOL 1 SCAN BAUDRATE 57600 と出るようになりましたがコードの他の部分に書いてある文章が出てきません。同じ条件でidの方をやってみると何も応答しません。 マイコンはArduino UNOで、12V,2Aを印加しました。日本支社の方からこちらにコードを乗せるよう言われたためこちらで質問させていただきます。よろしくおねがいします。(サンプルコードのidとscan Dynamixelを入れたつもりですが、載せます。)

I bought Dynamixel Shield to control MX-64AR but Serial Monitor can't show up well. So, I read e-manual ,included library and run sample code "id" and "scan dynamixel",however,Garbled characters were shown. Then, I connected 0pin to 7pin and 1pin to 8pin on Arduino port with jumper, and serial monitor responsed as follow (sample: scan dynamixel)

SCAN PROTOCOL 1 SCAN BAUDRATE 57600

but the other sentence wouldn't show up.. At same condition, tried "id",but monitor responsed nothing. Using micro computer is Arduino UNO. When I tried the shield, The power supply is 12V voltage and 2A current. ROBOTIS Japan branch Technical Department team asked me to write down this question on github. In this situation, I want to ask the solution. Please answer my question.

code is follow(scan dynamixel and id, both of them are contained in Library Dynamixel Shield basic tags) scan dynamixel

include

if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560)

include

SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX

define DEBUG_SERIAL soft_serial

elif defined(ARDUINO_SAM_DUE) || defined(ARDUINO_SAM_ZERO)

define DEBUG_SERIAL SerialUSB

else

define DEBUG_SERIAL Serial

endif

define MAX_BAUD 5

const int32_t buad[MAX_BAUD] = {57600, 115200, 1000000, 2000000, 3000000};

Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);

//This namespace is required to use Control table item names using namespace ControlTableItem;

void setup() { // put your setup code here, to run once: int8_t index = 0; int8_t found_dynamixel = 0;

// For Uno, Nano, Mini, and Mega, use UART port of DYNAMIXEL Shield to debug. DEBUG_SERIAL.begin(115200); //set debugging port baudrate to 115200bps while(!DEBUG_SERIAL); //Wait until the serial port is opened

for(int8_t protocol = 1; protocol < 3; protocol++) { // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version. dxl.setPortProtocolVersion((float)protocol); DEBUG_SERIAL.print("SCAN PROTOCOL "); DEBUG_SERIAL.println(protocol);

for(index = 0; index < MAX_BAUD; index++) {
  // Set Port baudrate.
  DEBUG_SERIAL.print("SCAN BAUDRATE ");
  DEBUG_SERIAL.println(buad[index]);
  dxl.begin(buad[index]);
  for(int id = 0; id < DXL_BROADCAST_ID; id++) {
    //iterate until all ID in each buadrate is scanned.
    if(dxl.ping(id)) {
      DEBUG_SERIAL.print("ID : ");
      DEBUG_SERIAL.print(id);
      DEBUG_SERIAL.print(", Model Number: ");
      DEBUG_SERIAL.println(dxl.getModelNumber(id));
      found_dynamixel++;
    }
  }
}

}

DEBUG_SERIAL.print("Total "); DEBUG_SERIAL.print(found_dynamixel); DEBUG_SERIAL.println(" DYNAMIXEL(s) found!"); }

void loop() { // put your main code here, to run repeatedly: }

code id

include

if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560)

include

SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX

define DEBUG_SERIAL soft_serial

elif defined(ARDUINO_SAM_DUE) || defined(ARDUINO_SAM_ZERO)

define DEBUG_SERIAL SerialUSB

else

define DEBUG_SERIAL Serial

endif

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

DynamixelShield dxl;

//This namespace is required to use Control table item names using namespace ControlTableItem;

void setup() { // put your setup code here, to run once: uint8_t present_id = DEFAULT_DXL_ID; uint8_t new_id = 0;

// For Uno, Nano, Mini, and Mega, use UART port of DYNAMIXEL Shield to debug. DEBUG_SERIAL.begin(115200); while(!DEBUG_SERIAL);

// Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate. dxl.begin(57600); // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version. dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);

DEBUG_SERIAL.print("PROTOCOL "); DEBUG_SERIAL.print(DXL_PROTOCOL_VERSION, 1); DEBUG_SERIAL.print(", ID "); DEBUG_SERIAL.print(present_id); DEBUG_SERIAL.print(": "); if(dxl.ping(present_id) == true) { DEBUG_SERIAL.print("ping succeeded!"); DEBUG_SERIAL.print(", Model Number: "); DEBUG_SERIAL.println(dxl.getModelNumber(present_id));

// Turn off torque when configuring items in EEPROM area
dxl.torqueOff(present_id);

// set a new ID for DYNAMIXEL. Do not use ID 200
new_id = 100;
if(dxl.setID(present_id, new_id) == true){
  present_id = new_id;
  DEBUG_SERIAL.print("ID has been successfully changed to ");
  DEBUG_SERIAL.println(new_id);

  new_id = DEFAULT_DXL_ID;
  if(dxl.setID(present_id, new_id) == true){
    present_id = new_id;
    DEBUG_SERIAL.print("ID has been successfully changed back to Original ID ");
    DEBUG_SERIAL.println(new_id);
  }else{
    DEBUG_SERIAL.print("Failed to change ID to ");
    DEBUG_SERIAL.println(new_id);
  }
}else{
  DEBUG_SERIAL.print("Failed to change ID to ");
  DEBUG_SERIAL.println(new_id);
}

} else{ DEBUG_SERIAL.println("ping failed!"); } }

void loop() { // put your main code here, to run repeatedly: }

[ROBOTIS-Will]

Hi @KoutarouTakahashi

Thank you for your inquiry and detailed explanation about the issue. If you are using Arduino Uno, it is sharing one serial port with USB and Tx/Rx port.

DYNAMIXEL Shield use Tx/Rx port to communicate with DYNAMIXEL, therefore, Arduino terminal will not work properly.

Please refer to the issue thread #18 for more details.

Thank you.

[KoutarouTakahashi]

Hi ,Mr.Will. Thanks for answering. I read #18 and learned one UNO can't show data on serial monitor because of one USB port ,RX/TX port collision. So, I noticed that how about using LCD (Liquid Crystal Display) instead of serial monitor? I think it can show up data by using I2C communication. and don't have to concern about port collision.

Thank you.

[ROBOTIS-Will]

Hi @KoutarouTakahashi

Yes, as long as pins you are going to use does not conflict with DYNAMIXEL Shield pins, you may freely use the shield. Thank you.

[KoutarouTakahashi]

Hi @ROBOTIS-Will Thanks to your advice, I managed to control MX64-AR with lcd! thank you very much!