ID割当

Dynamixelモータ(Protocol2.0)のセットアップ - Qiita

XL330-M288-T

Specification

Model Name		XL330-M288-T
MCU		Cortex-M0+ (64 [MHz], 32bit)
Input Voltage	Min. [V]	3.7
	Recommended [V]	5.0
	Max. [V]	6.0
Performance Characteristics	Voltage [V]	5.0
	Stall Torque [N·m]	0.52
	Stall Current [A]	1.5
	No Load Speed [rpm]	104.0
	No Load Current [A]	0.15
Continuous Operation	Voltage [V]	-
	Torque [N·m]	-
	Speed [rpm]	-
	Current [A]	-
Resolution	Resolution [deg/pulse]	0.0879
	Step [pulse]	4
	Angle [degree]	360
Position Sensor		Contactless absolute encoder (12Bit, 360 [deg]) Maker : ams(www.ams.com), Part No : AS5601
Operating Temperature	Min. [°C]	-5
	Max. [°C]	60
Motor		Cored
Baud Rate	Min. [bps]	9,600
	Max. [bps]	4,500,000
Control Algorithm		PID
Gear Type		Spur
Gear Material		Engineering Plastic
Case Material		Engineering Plastic
Dimensions (WⅹHⅹD) [mm]		20 X 34 X 26
Dimensions (WⅹHⅹD) [inch]		0.78 X 1.33 X 1.02
Weight [g]		0.00
Weight [oz]		0.63
Gear Ratio		288.4 : 1
Command Signal		Digital Packet
Protocol Type		Half duplex Asynchronous Serial Communication (8bit, 1stop, No Parity)
Link (Physical)		TTL Level Multi Drop Bus
ID		0 ~ 252
Feedback		Position, Velocity, Load, Realtime tick, Trajectory, Temperature, Input Voltage, etc
Protocol version		Protocol 2.0
Operating Mode / Angle		Current Control mode：Endless turn Velocity Control mode：Endless turn Position Control Mode：360 [deg] Extended Position Control Mode：±256 [rev] Current-based Position Control Mode：±256 [rev] PWM Control Mode：Endless turn
Output [W]		-
Standby Current [mA]		15

GitHub - kim-xps12/m5stack_board_dynamixel_ttl_rs3485

DynamixelのXLサーボを動かす - Qiita

テストコード

#include <M5Core2.h>
#include <Dynamixel2Arduino.h>

#define DEBUG_SERIAL Serial
HardwareSerial& DXL_SERIAL = Serial1;
Dynamixel2Arduino dxl;

// M5Stack Core2 PORT A
const uint8_t RX_SERVO = 32;
const uint8_t TX_SERVO = 33;

const uint8_t DXL_ID = 1;
const float DXL_PROTOCOL_VERSION = 2.0;

void setup()
{
  //M5設定
  M5.begin(true, true, true, false);
  M5.Lcd.fillScreen(BLACK); // 画面の塗りつぶし
  M5.Lcd.setCursor(0, 0);   // 文字列の書き出し位置
  M5.Lcd.setTextSize(2);    // 文字サイズを設定
  //dynamixel 設定
  DXL_SERIAL.begin(57600, SERIAL_8N1, RX_SERVO, TX_SERVO);
  dxl = Dynamixel2Arduino(DXL_SERIAL);
  dxl.begin(57600);
  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
  dxl.ping(DXL_ID);

  dxl.torqueOff(DXL_ID);
  dxl.setOperatingMode(DXL_ID, OP_VELOCITY);
  dxl.torqueOn(DXL_ID);
}

void loop()
{
  M5.update();
  // Set Goal Velocity using RPM
  static bool rev = false;
  static int count = 0;
  dxl.setGoalVelocity(DXL_ID, 60*(!rev)-60*rev, UNIT_RPM);
  M5.Lcd.setCursor(0, 0);
  M5.Lcd.printf("Velocity(rpm) :  %.2f,%d", dxl.getPresentVelocity(DXL_ID, UNIT_RPM),count);
  if(count > 100)
  {
    count = 0;
    rev = !rev;
  }
  count++;
}