plankatron
commented
6 years ago ok hardware needed to test this :
atleast one dynamixel ax-12a : http://a.co/hWTrKZl and an esp32 , either : http://a.co/hGAGAo8 <-- basic esp32 dev board , or , http://a.co/h88lbag <-- gateway version with ethernet on board
next post i will explain how to wire up for testing.
need to modify / make a library for the esp32 to control the dynamixel ax-12h servos
links : arbotix dynamixel example lib for arduino : https://github.com/vanadiumlabs/arbotix/blob/master/libraries/Bioloid/ax12.cpp esp8266 lib for dynamixel : https://github.com/tschuett-munich/ax12esp hardware-serial example sketch for esp32 : https://github.com/G6EJD/ESP32-Using-Hardware-Serial-Ports/blob/master/ESP32_Using_Serial2.ino
from trossen robotics forums : Most of the libraries for the Dynamixels are split in two parts; one is for "talking to the serial port to make it do the RS-485 single duplex thing," and one is for "formatting Dynamixel-format byte buffers for packets." Generally, the serial port bit is very small and isolated to a few functions. You should be able to take any existing dynamixel library, take out the serial port functions, and re-implement them for whatever the ESP32 wants as a replacement.