Dynamixel AX-18A in MATLAB

Enginius/Hardware

해리s 2015. 6. 10. 18:22

1. Download RoboPlus

- http://www.robotis.com/xe/1132559

- 561MB

- Installation is straightforward. But it requires some patience..

- Perhaps... we may not need this.

2. Download 'usb2dynamixel'

3. Addpath SDK API in MATLAB

- http://support.robotis.com/ko/software/dynamixel_sdk/usb2dynamixel/windows/matlab.htm

4. Use following codes

% DYNAMIXEL AX-18A

addpath(genpath('usb2dynamixel'))

clc;

clear;

close all;

%% INITIALIZE

global_vars;

loadlibrary('dynamixel', 'dynamixel.h');

loadlibrary('dynamixel','dxl_matlab.h');

libfunctions('dynamixel');

%% CONNECT

DEFAULT_PORTNUM = 13; % COM PORT ID

DEFAULT_BAUDNUM = 1; % 1Mbps

res = connectDXL(DEFAULT_PORTNUM, DEFAULT_BAUDNUM);

%% DEFAULT SETTING

default_Vel = 100; % 0 for maximum torque

default_Pos = 0;

setVel_all(default_Vel);

setPos_all(default_Pos);

%% SET POSITION

setPos_one(1, 150);

setPos_one(2, 150);

%% DISCONNECT

disconnectDXL();