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RWU-R2M / PE

Repository for the power electronics department. All information in respect to the electrical hardware, power distribution and wiring of the rover can be found here.
CERN Open Hardware Licence Version 2 - Strongly Reciprocal
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dynamixel bus #20

Open leandroebner opened 5 months ago

leandroebner commented 5 months ago

how does the bus work? similar to the can / odrive ?

do we need to route a bidirectional cable to the servos or can we split the bus in the main control area?

YashasPrabhuu commented 4 months ago

It uses half duplex UART. more info: https://emanual.robotis.com/docs/en/dxl/protocol1/#:~:text=DYNAMIXEL%20does%20the%20Asynchronous%20Serial,DYNAMIXEL%20with%20the%20same%20ID.

YashasPrabhuu commented 4 months ago

So basically if we are using the single bus to communicate with all 4 servos then if one is publishing the rest 3 should be in input state. From the looks of it, I think we should connect all 4 individuals GPIO if we need to send and receive parallel..