search

resibots / libdynamixel

C++ interface to the dynamixel actuators
GNU General Public License v2.0
9 stars 15 forks source link

RX-64 support? #49

Closed Rayman closed 6 years ago

Rayman commented 6 years ago

I'm trying to get this library to work with my dynamixel. Is the RX line supported? I could not find any implementation for it. dynamixel list returns nothing.

dogoepp commented 6 years ago

Hello @Rayman, Indeed, we did not implement the RX control table. I can offer some help for you to make the one you needs. It's simple but just needs time to be done.

You need to create a new file named for instance rx10.hpp in the src/dynamixel/servos folder. The others file in this folder show you what needs to be there.

Then, you also need to include this new file from src/dynamixel/servos/servos.hpp and add two lines in the Protocol1 version of get_servos() in src/dynamixel/auto_detect.hpp.

The last addition is the one that will allow dynamixel list to recognise your actuators. Don't forget also to set the right port with -p and the right baudrate with -b if they are not the default values.

jbmouret commented 6 years ago

The reason we did not do it is that we have no RX dynamixels in the lab (only DX/AX/MX/Pro).

Rayman commented 6 years ago

Thanks for your reaction. I didn't have time to implement that, so I switched to the official c++ drivers: https://github.com/ROBOTIS-GIT/dynamixel-workbench