Here, we walk through set up and example scripts to communicate with connected Dynamixel motors, using Matlab.

IMPORTANT: We assume instructions in hardware setup have been completed.

Clone the 'dynamixel' repository that we maintain on Georgia Tech.'s GitHub Enterprise: git@github.gatech.edu:ivabots/dynamixel.git

Note: Walk through and instructions to set up and clone Git repositories can be found here .

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

Take some time to explore the class definition and high-level methods available for use.

Disclaimer:

1. 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). This API will soon be updated to utilize Robotis' latest software interface.
2. 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 it 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.
3. 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)

Within the 'dynamixel' repo, navigate to: code/matlab/Dynamixel_IO/test_cases.

Open and view the following test script that will command a motor, specified by the user, to a position (also specified by the user): test_case_command_single_motor.m

Some notes:

1. 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.
2. 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.
3. 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.
4. 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.

Exercise(s):

1. (1) 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.
2. (2) 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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