Skip to content

Commit fc760f2

Browse files
ROBOTIS-WillROBOTIS-Will
authored
Merge pull request ROBOTIS-GIT#466 from ROBOTIS-GIT/ROBOTIS-Patch-David-Matlab
Robotis patch david matlab
2 parents 46b7137 + 8de430d commit fc760f2

File tree

1 file changed

+94
-41
lines changed

1 file changed

+94
-41
lines changed

‎matlab/protocol2.0/read_write.m‎

Lines changed: 94 additions & 41 deletions
Original file line numberDiff line numberDiff line change
@@ -1,30 +1,37 @@
1-
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
2-
% Copyright 2017 ROBOTIS CO., LTD.
3-
%
4-
% Licensed under the Apache License, Version 2.0 (the "License");
5-
% you may not use this file except in compliance with the License.
6-
% You may obtain a copy of the License at
7-
%
8-
% http://www.apache.org/licenses/LICENSE-2.0
9-
%
10-
% Unless required by applicable law or agreed to in writing, software
11-
% distributed under the License is distributed on an "AS IS" BASIS,
12-
% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13-
% See the License for the specific language governing permissions and
14-
% limitations under the License.
15-
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
1+
%{
2+
Copyright 2017 ROBOTIS CO., LTD.
3+
4+
Licensed under the Apache License, Version 2.0 (the "License");
5+
you may not use this file except in compliance with the License.
6+
You may obtain a copy of the License at
7+
8+
http://www.apache.org/licenses/LICENSE-2.0
9+
10+
Unless required by applicable law or agreed to in writing, software
11+
distributed under the License is distributed on an "AS IS" BASIS,
12+
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13+
See the License for the specific language governing permissions and
14+
limitations under the License.
15+
%}
1616

1717
% Author: Ryu Woon Jung (Leon)
1818

19-
%
20-
% ********* Read and Write Example *********
21-
%
22-
%
23-
% Available Dynamixel model on this example : All models using Protocol 2.0
24-
% This example is designed for using a Dynamixel PRO 54-200, and an USB2DYNAMIXEL.
25-
% To use another Dynamixel model, such as X series, see their details in E-Manual(emanual.robotis.com) and edit below variables yourself.
26-
% Be sure that Dynamixel PRO properties are already set as %% ID : 1 / Baudnum : 1 (Baudrate : 57600)
27-
%
19+
%{
20+
********* Read and Write Example ******************
21+
* Required Environment to run this example :
22+
- Protocol 2.0 supported DYNAMIXEL(X, P, PRO/PRO(A), MX 2.0 series)
23+
- DYNAMIXEL Starter Set (U2D2, U2D2 PHB, 12V SMPS)
24+
* How to use the example :
25+
- Use proper DYNAMIXEL Model definition from line #44
26+
- Build and Run from proper architecture subdirectory.
27+
- For ARM based SBCs such as Raspberry Pi, use linux_sbc subdirectory to build and run.
28+
- https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/overview/
29+
30+
* Author: Ryu Woon Jung (Leon)
31+
32+
* Maintainer : Zerom, Will Son
33+
***********************************************************
34+
%}
2835

2936
clc;
3037
clear all;
@@ -48,24 +55,70 @@
4855
[notfound, warnings] = loadlibrary(lib_name, 'dynamixel_sdk.h', 'addheader', 'port_handler.h', 'addheader', 'packet_handler.h');
4956
end
5057

51-
% Control table address
52-
ADDR_PRO_TORQUE_ENABLE = 562; % Control table address is different in Dynamixel model
53-
ADDR_PRO_GOAL_POSITION = 596;
54-
ADDR_PRO_PRESENT_POSITION = 611;
58+
%{
59+
********* DYNAMIXEL Model *********
60+
***** (Use only one definition at a time) *****
61+
%}
62+
63+
My_DXL = 'X_SERIES'; % X330, X430, X540, 2X430
64+
% My_DXL = 'PRO_SERIES'; % H54, H42, M54, M42, L54, L42
65+
% My_DXL = 'PRO_A_SERIES'; % PRO series with (A) firmware update.
66+
% My_DXL = 'P_SERIES'; % PH54, PH42, PM54
67+
% My_DXL = 'XL320'; % [WARNING] Operating Voltage : 7.4V
68+
% My_DXL = 'MX_SERIES'; % MX series with 2.0 firmware update.
69+
70+
% Control table address and data to Read/Write for my DYNAMIXEL, My_DXL, in use.
71+
switch (My_DXL)
72+
73+
case {'X_SERIES','MX_SERIES'}
74+
ADDR_TORQUE_ENABLE = 64;
75+
ADDR_GOAL_POSITION = 116;
76+
ADDR_PRESENT_POSITION = 132;
77+
DXL_MINIMUM_POSITION_VALUE = 0; % Dynamixel will rotate between this value
78+
DXL_MAXIMUM_POSITION_VALUE = 4095; % and this value (note that the Dynamixel would not move when the position value is out of movable range. Check e-manual about the range of the Dynamixel you use.)
79+
BAUDRATE = 57600;
80+
81+
case ('PRO_SERIES')
82+
ADDR_TORQUE_ENABLE = 562; % Control table address is different in DYNAMIXEL model
83+
ADDR_GOAL_POSITION = 596;
84+
ADDR_PRESENT_POSITION = 611;
85+
DXL_MINIMUM_POSITION_VALUE = -150000; % Refer to the Minimum Position Limit of product eManual
86+
DXL_MAXIMUM_POSITION_VALUE = 150000; % Refer to the Maximum Position Limit of product eManual
87+
BAUDRATE = 57600;
88+
89+
case {'P_SERIES','PRO_A_SERIES'}
90+
ADDR_TORQUE_ENABLE = 512; % Control table address is different in DYNAMIXEL model
91+
ADDR_GOAL_POSITION = 564;
92+
ADDR_PRESENT_POSITION = 580;
93+
DXL_MINIMUM_POSITION_VALUE = -150000; % Refer to the Minimum Position Limit of product eManual
94+
DXL_MAXIMUM_POSITION_VALUE = 150000; % Refer to the Maximum Position Limit of product eManual
95+
BAUDRATE = 57600;
96+
case ('XL320')
97+
ADDR_TORQUE_ENABLE = 24;
98+
ADDR_GOAL_POSITION = 30;
99+
ADDR_PRESENT_POSITION = 37;
100+
DXL_MINIMUM_POSITION_VALUE = 0; % Refer to the CW Angle Limit of product eManual
101+
DXL_MAXIMUM_POSITION_VALUE = 1023; % Refer to the CCW Angle Limit of product eManual
102+
BAUDRATE = 1000000; % Default Baudrate of XL-320 is 1Mbps
103+
end
104+
105+
106+
% DYNAMIXEL Protocol Version (1.0 / 2.0)
107+
% https://emanual.robotis.com/docs/en/dxl/protocol2/
108+
PROTOCOL_VERSION = 2.0;
55109

56-
% Protocol version
57-
PROTOCOL_VERSION = 2.0; % See which protocol version is used in the Dynamixel
110+
% Factory default ID of all DYNAMIXEL is 1
111+
DXL_ID = 1;
58112

59-
% Default setting
60-
DXL_ID = 1; % Dynamixel ID: 1
61-
BAUDRATE = 57600;
62-
DEVICENAME = 'COM1'; % Check which port is being used on your controller
63-
% ex) Windows: 'COM1' Linux: '/dev/ttyUSB0' Mac: '/dev/tty.usbserial-*'
113+
% Use the actual port assigned to the U2D2.
114+
% ex) Windows: 'COM*', Linux: '/dev/ttyUSB*', Mac: '/dev/tty.usbserial-*'
115+
DEVICENAME = '/dev/ttyUSB0';
64116

117+
% Common Control Table Address and Data
118+
ADDR_OPERATING_MODE = 11;
119+
OPERATING_MODE = 3; % value for operating mode for position control
65120
TORQUE_ENABLE = 1; % Value for enabling the torque
66121
TORQUE_DISABLE = 0; % Value for disabling the torque
67-
DXL_MINIMUM_POSITION_VALUE = -150000; % Dynamixel will rotate between this value
68-
DXL_MAXIMUM_POSITION_VALUE = 150000; % and this value (note that the Dynamixel would not move when the position value is out of movable range. Check e-manual about the range of the Dynamixel you use.)
69122
DXL_MOVING_STATUS_THRESHOLD = 20; % Dynamixel moving status threshold
70123

71124
ESC_CHARACTER = 'e'; % Key for escaping loop
@@ -112,7 +165,7 @@
112165

113166

114167
% Enable Dynamixel Torque
115-
write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_PRO_TORQUE_ENABLE, TORQUE_ENABLE);
168+
write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_TORQUE_ENABLE, TORQUE_ENABLE);
116169
dxl_comm_result = getLastTxRxResult(port_num, PROTOCOL_VERSION);
117170
dxl_error = getLastRxPacketError(port_num, PROTOCOL_VERSION);
118171
if dxl_comm_result ~= COMM_SUCCESS
@@ -130,7 +183,7 @@
130183
end
131184

132185
% Write goal position
133-
write4ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_PRO_GOAL_POSITION, typecast(int32(dxl_goal_position(index)), 'uint32'));
186+
write4ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_GOAL_POSITION, typecast(int32(dxl_goal_position(index)), 'uint32'));
134187
dxl_comm_result = getLastTxRxResult(port_num, PROTOCOL_VERSION);
135188
dxl_error = getLastRxPacketError(port_num, PROTOCOL_VERSION);
136189
if dxl_comm_result ~= COMM_SUCCESS
@@ -141,7 +194,7 @@
141194

142195
while 1
143196
% Read present position
144-
dxl_present_position = read4ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_PRO_PRESENT_POSITION);
197+
dxl_present_position = read4ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_PRESENT_POSITION);
145198
dxl_comm_result = getLastTxRxResult(port_num, PROTOCOL_VERSION);
146199
dxl_error = getLastRxPacketError(port_num, PROTOCOL_VERSION);
147200
if dxl_comm_result ~= COMM_SUCCESS
@@ -167,7 +220,7 @@
167220

168221

169222
% Disable Dynamixel Torque
170-
write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_PRO_TORQUE_ENABLE, TORQUE_DISABLE);
223+
write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_TORQUE_ENABLE, TORQUE_DISABLE);
171224
dxl_comm_result = getLastTxRxResult(port_num, PROTOCOL_VERSION);
172225
dxl_error = getLastRxPacketError(port_num, PROTOCOL_VERSION);
173226
if dxl_comm_result ~= COMM_SUCCESS

0 commit comments

Comments
 (0)