DynamixelTools consistes of two Matlab classes, OPENCM and DXL, that allow for control of ROBOTIS Dynamixel smart servo actuators with the OpenCM9.04 microcontroller. These classes have vectorized methods for interacting with multiple Dynamixel actuators simultaneously. Commands can be sent at approximately 200 Hz (limited by serial speed and your computer hardware and OS). See demos and included help for usage details.
DynamixelTools requires that a simple “tosser” code be running on the OpenCM9.04. A compiled binary of this is included. The DXL class (or the OPENCM superclass) will attempt to upload and install the tosser. See my DynamixelQ project, a C++ library to control Dynamixel actuators, for implementation details.
Andrew D. Horchler, horchler @ gmail . com, biorobots.case.edu
Created: 6-28-15, Revision: 1.0, 2-25-16
This version tested with Matlab 8.6.0.267246 (R2015b)
Mac OS X 10.11.4 (Build: 15E65), Java 1.7.0_75-b13
Compatibility maintained back through Matlab 8.5 (R2015a)
Acknowledgment of support: This material is based upon work supported by the National Science Foundation under Grant No. 1065489. Disclaimer: Any opinions, findings, and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the National Science Foundation.
Copyright © 2015–2017, Andrew D. Horchler
All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
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