Dynamixel AX-18A in MATLAB

Posted 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();


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