libDynamixel

This is a C++ interface to control ROBOTIS Dynamixel smart servos. This library provides an API to perform basic low-level functionality of dynamixel servos, plus a higher-level convenience layer on the top of basic API.

Usage

Each servo type has an abstraction defined in the library. The communication layer is completely isolated and supposed to be managed by libSerial. You will need to pass a reference to a SerialStream object for each servo when initializing it.

#include <SerialStream.h>     /* It's libSerial's business to communicate */
#include <dynamixel/mx28.hpp> /* We want to control two MX-28 */
#include <dynamixel/ax12.hpp> /* And a AX-12 */
using namespace std;
using namespace Dynamixel;
using namespace LibSerial;

int main() {
    SerialStream stream{"/dev/ttyUSB0", SerialStreamBuf::BAUD_57600,
		SerialStreamBuf::CHAR_SIZE_8, SerialStreamBuf::PARITY_NONE, 1,
		SerialStreamBuf::FLOW_CONTROL_NONE};
	MX28 m1 { stream, 1 };  /* Initialize a MX-28 with id `2' */
	MX28 m2 { stream, 2 };
	AX12 m3 { stream, 3 }
	// Rotate by 90 degree, and 10 RPM:
	m1.rotate(90.0f,Dynamixel::AngleUnit::Degree,
	          20.0f, Dynamixel::VelocityUnit::RPM);
	// Rotate by 1024 steps, and speed of 500 units:
	m1.rotate(1024.0f, 500.0f);
	// Or:
	m1.rotate(1024.0f,Dynamixel::AngleUnit::Default,
	          500.0f, Dynamixel::VelocityUnit::Default);
	// Sense information:
	while(m1.moving()) {
	    	cout << m1.presentLoad() << endl;
            cout << m1.presentPosition() << endl;
            cout << m1.presentSpeed() << endl;
            cout << m1.presentTemperature() << endl;
            cout << m1.presentVoltage() << endl;
	}
	// Set acceleration:
	m1.setGoalAcceleration(100);
	// Set ID:
	m1.setID(4);
	// Do whatever you want (:
	return 0;
}

Compile

Please refere to INSTALL.