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| dynamixel:sw_prelim [2024/08/20 21:38] – external edit 127.0.0.1 | dynamixel:sw_prelim [2024/09/23 13:33] (current) – typos |
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| ===== Clone Repositories ===== | ===== Clone Repositories ===== |
| Clone the 'dynamixel' repository maintained on Georgia Tech.'s GitHub Enterprise: git@github.gatech.edu:ivabots/dynamixel.git | Clone the [[ https://github.gatech.edu/ivabots/dynamixel | **dynamixel** ]] repository maintained on Georgia Tech GitHub Enterprise: git@github.gatech.edu:ivabots/dynamixel.git |
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| **Note:** Walk-through instructions to set up and clone Git repositories can be found [[git:get_started | here ]]. | **Note:** Walk-through instructions to set up and clone Git repositories can be found [[git:get_started | here ]]. |
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| ===== Dynamixel Matlab API ===== | ===== Dynamixel Matlab API ===== |
| Within the repository, a 'Dynamixel_IO' Matlab class has been created to facilitate convenient communication and operation of the motors: code/matlab/Dynamixel_IO/Dynamixel_IO.m | Within the repository, a ''Dynamixel_IO'' Matlab class has been created to facilitate convenient communication with and operation of the motors: code/matlab/Dynamixel_IO/Dynamixel_IO.m |
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| Take some time to explore the class definition and high-level methods available. | Take some time to explore the class definition and high-level methods available. |
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| **Disclaimer**: | **Disclaimer(s)**: |
| - The Dynamixel_IO Matlab class currently only supports Dynamixel motors using 10-bit encoders (ie. AX and RX line of motors). However, a variant (not yet committed to the repository) has been created to support most functions associated with motors using 12-bit encoders (eg. MX line of motors) and is available upon request. | - The ''Dynamixel_IO'' Matlab class only supports Dynamixel motors using 10-bit encoders (e.g. AX and RX line of motors). A variant (not yet committed to the repository) has been created to support most functions associated to motors that use 12-bit encoders (e.g. MX line of motors) and is available upon request. |
| - The Dynamixel_IO class relies on pre-compiled lower-level libraries to communicate with the motors. It presumes the libraries are located in a specific relative path. If you clone the 'dynamixel' repo and use the Dynamixel_IO class from the repository location, there should be no problem. If you move the Dynamixel_IO.m file out of the cloned repository location and use it elsewhere, however, it may not be able to find dependency libraries residing only in the repository. | - The ''Dynamixel_IO'' class relies on pre-compiled lower-level libraries to communicate with the motors. It presumes the libraries are located in a specific relative path. If you clone the **dynamixel** repo and use the ''Dynamixel_IO'' class from the repository location, there should be no problem. If you move the Dynamixel_IO.m file out of the cloned repository location and use it elsewhere, however, it may not be able to find dependency libraries expected to reside within in the repository. |
| - Pre-compiled libraries are available only for Linux (32- & 64-bit) and Windows (32- and 64-bit). Hence, this API does not currently support use on Mac OSX. Additionally, if run on Windows 64-bit, the user will be required to install a compiler that Matlab supports (eg. for running MEX files) | - Pre-compiled libraries are available only for Linux (32- & 64-bit) and Windows (32- and 64-bit). This API doesn't currently support Mac OSX. Additionally, if run on Windows 64-bit, the user may be required to install a compiler that Matlab supports (e.g. for running MEX compilations) |
| - This API will soon be updated to use Robotis' latest software interface. | - This API will eventually be updated to use ROBOTIS' latest software interface. |
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| ===== Test Script and Exercise ===== | ===== Test Script and Exercise ===== |
| Within the 'dynamixel' repo, navigate to: code/matlab/Dynamixel_IO/test_cases. | Within the **dynamixel** repo, navigate to: code/matlab/Dynamixel_IO/test_cases. |
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| Open and view the following test script which will command a motor, specified by the user, to a position (also specified by the user): test_case_command_single_motor.m | Open and view the following test script which will command a (user-specified) motor ID to a desired position : test_case_command_single_motor.m |
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| **Some notes**: | **Some notes**: |
| - Find your port number: The red FTDI breakout board is connected to the PC via USB. On Linux, you should find a device file for it in '/dev'. Type ''ls /dev/ttyUSB*'' to see a list of device files that may correspond to this device. The number after 'ttyUSB' is your port number. Use that as the 1st argument to ''dxl.connect( ... );'' in the test script. | - Find your port number: A serial-to-USB device (e.g. ROBOTIS U2D2 or a red FTDI breakout board) should be connected to the PC via USB. On Linux, you should find a device file for it within '/dev'. Use the terminal command ''ls /dev/ttyUSB*'' to view a list of device files that may correspond to this device. The number after 'ttyUSB' is your port number. Use that as the 1st argument to ''dxl.connect( ... );'' in the test script. |
| - Motor ID: You will need to know the ID of the motor you'd like to command using this script. Enter that value in the line, ''motor_id = 17;'', replacing ''17'' with your motor's ID. | - **Motor ID:** You will need to know the ID of the motor you'd like to command using this script. Enter that value in the line, ''motor_id = 17;'', replacing ''17'' with your motor's ID. |
| - Command a position: In the line, ''dest_pos = pi/6;'', replace ''pi/6'' with a motor position (in radians) you'd like the motor to travel to. Remember, each line of motors has a set of specifications that document the minimum/maximum range of motion. | - **Command a position:** In the line, ''dest_pos = pi/6;'', replace ''pi/6'' with a motor position (radians) you'd like the motor to travel to. Each Dynamixel motor product line has a set of specifications that document the minimum/maximum range of motion. As an example, the AX-12 specifications can be found on its [[ https://emanual.robotis.com/docs/en/dxl/ax/ax-12a/ | e-manual page ]]. Every motor model has its own e-manual (Google the motor model name + "Dynamixel e-manual"). |
| - Run the script: Once you're done, hit the 'Play' button and follow any instructions in the prompt. If everything works out, you should see you motor move to the specified position. | - **Run the script:** Once you're done, hit the 'Play' button and follow any instructions in the prompt. If everything works out, you should see the desired motor move to the specified position. |
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| **Exercise(s)**: | **Exercise(s)**: |
| - You have commanded a single motor to a single angular position. Can you now modify the Matlab script to command the motor to smoothly travel a sinusoidal trajectory (eg. with user-adjustable frequency, amplitude and phase offset) over time? Demonstrate this trajectory (with your choice of frequency, amplitude, phase, etc.) over 5 sine periods. | - You've commanded a single motor to a single angular position. Can you now modify the Matlab script to command the motor to smoothly travel a sinusoidal trajectory (eg. with user-adjustable frequency, amplitude and phase offset) over time? Demonstrate this trajectory (with your choice of frequency, amplitude, phase, etc.) over 5 sine periods. |
| - Now that you've commanded a time-varying trajectory for a single motor. Command 2 different trajectories for 2 motors! Make sure that both motors are following different sinusoidal trajectories - eg. they both can execute a sinusoidal trajectory over time, but each one should follow a sine wave defined by different parameters (eg. different frequency, amplitude and/or phase offset). | - Now that you've commanded a time-varying trajectory for a single motor. Command 2 different trajectories for 2 motors! Make sure that both motors are following different sinusoidal trajectories - eg. they both can execute a sinusoidal trajectory over time, but each one should follow a sine wave defined by different parameters (eg. different frequency, amplitude and/or phase offset). |
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