7/23/2019 Iya Mikiri

1/1

The new dynamixel codes are as follows:

Dynamixel Dxl(1); //Dynamixel on Serial1(USART1),

//if you use 485 bus on sheild board -> Dynamixel Dxl(3); // on Serial3(UART3)

void setup() {

// Initialize the dynamixel bus:

// baud rate index n=1 is 1Mbps refer to 2000000/(1+n)

// 34 is 57600 bps

Dxl.begin(1); //1Mbps

}

void loop() {

Dxl.writeWord(1, 30, 0); //Turn dynamixel ID 1 to position 0

delay(1000); // Wait for 1 second (1000 milliseconds)

Dxl.writeWord(1, 30, 300);//Turn dynamixel ID 1 to position 300

delay(1000); // Wait for 1 second (1000 milliseconds)

}