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Java Reset Protocol 1.0

Sample code

/*
 * Reset.java
 *
 *  Created on: 2016. 6. 23.
 *      Author: Ryu Woon Jung (Leon)
 */

//
// *********     Factory Reset Example      *********
//
//
// Available Dynamixel model on this example : All models using Protocol 1.0
// This example is designed for using a Dynamixel MX-28, and an USB2DYNAMIXEL.
// To use another Dynamixel model, such as X series, see their details in E-Manual(support.robotis.com) and edit below variables yourself.
// Be sure that Dynamixel PRO properties are already set as %% ID : 1 / Baudnum : 1 (Baudrate : 1000000 [1M])
//

// Be aware that:
// This example resets all properties of Dynamixel to default values, such as %% ID : 1 / Baudnum : 34 (Baudrate : 57600)
//

import java.util.Scanner;

public class Reset
{
  public static void main(String[] args)
  {
    // Control table address
    short ADDR_MX_BAUDRATE              = 4;                   // Control table address is different in Dynamixel model

    // Protocol version
    int PROTOCOL_VERSION                = 1;                   // See which protocol version is used in the Dynamixel

    // Default setting
    byte DXL_ID                         = 1;                   // Dynamixel ID: 1-
    int BAUDRATE                        = 1000000;
    String DEVICENAME                   = "/dev/ttyUSB0";      // Check which port is being used on your controller
                                                               // ex) "COM1"   Linux: "/dev/ttyUSB0"

    int FACTORYRST_DEFAULTBAUDRATE      = 57600;               // Dynamixel baudrate set by factoryreset
    byte NEW_BAUDNUM                    = 1;                   // New baudnum to recover Dynamixel baudrate as it was
    byte OPERATION_MODE                 = 0x00;                // Mode is unavailable in Protocol 1.0 Reset

    int COMM_SUCCESS                    = 0;                   // Communication Success result value
    int COMM_TX_FAIL                    = -1001;               // Communication Tx Failed

    // Instead of getch
    Scanner scanner = new Scanner(System.in);

    // Initialize Dynamixel class for java
    Dynamixel dynamixel = new Dynamixel();

    // Initialize PortHandler Structs
    // Set the port path
    // Get methods and members of PortHandlerLinux or PortHandlerWindows
    int port_num = dynamixel.portHandler(DEVICENAME);

    // Initialize PacketHandler Structs
    dynamixel.packetHandler();

    int dxl_comm_result = COMM_TX_FAIL;                        // Communication result

    byte dxl_error = 0;                                        // Dynamixel error
    byte dxl_baudnum_read;                                     // Read baudnum

    // Open port
    if (dynamixel.openPort(port_num))
    {
      System.out.println("Succeeded to open the port!");
    }
    else
    {
      System.out.println("Failed to open the port!");
      System.out.println("Press any key to terminate...");
      scanner.nextLine();
      return;
    }

    // Set port baudrate
    if (dynamixel.setBaudRate(port_num, BAUDRATE))
    {
      System.out.println("Succeeded to change the baudrate!");
    }
    else
    {
      System.out.println("Failed to change the baudrate!");
      System.out.println("Press any key to terminate...");
      scanner.nextLine();
      return;
    }

    // Read present baudrate of the controller
    System.out.printf("Now the controller baudrate is : %d\n", dynamixel.getBaudRate(port_num));

    // Try factoryreset
    System.out.printf("[ID: %d] Try factoryreset : \n", DXL_ID);
    dynamixel.factoryReset(port_num, PROTOCOL_VERSION, DXL_ID, OPERATION_MODE);
    if ((dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
    {
      System.out.println("Aborted");
      dynamixel.printTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
      return;
    }
    else if ((dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
    {
      dynamixel.printRxPacketError(PROTOCOL_VERSION, dxl_error);
    }

    // Wait for reset
    System.out.printf("Wait for reset...\n");
    try
    {
      Thread.sleep(2000);
    }
    catch (InterruptedException e)
    {
      System.out.println(e.getMessage());
    }

    System.out.printf("[ID: %d] factoryReset Success!\n", DXL_ID);

    // Set controller baudrate to dxl default baudrate
    if (dynamixel.setBaudRate(port_num, FACTORYRST_DEFAULTBAUDRATE))
    {
      System.out.printf("Succeed to change the controller baudrate to : %d\n", FACTORYRST_DEFAULTBAUDRATE);
    }
    else
    {
      System.out.println("Failed to change the controller baudrate");
      System.out.println("Press any key to terminate...");
      scanner.nextLine();
      return;
    }

    // Read Dynamixel baudnum
    dxl_baudnum_read = dynamixel.read1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_MX_BAUDRATE);
    if ((dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
    {
      dynamixel.printTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
    }
    else if ((dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
    {
      dynamixel.printRxPacketError(PROTOCOL_VERSION, dxl_error);
    }
    else
    {
      System.out.printf("[ID: %d] Dynamixel baudnum is now : %d\n", DXL_ID, dxl_baudnum_read);
    }

    // Write new baudnum
    dynamixel.write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_MX_BAUDRATE, NEW_BAUDNUM);
    if ((dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
    {
      dynamixel.printTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
    }
    else if ((dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
    {
      dynamixel.printRxPacketError(PROTOCOL_VERSION, dxl_error);
    }
    else
    {
      System.out.printf("[ID: %d] Set Dynamixel baudnum to : %d\n", DXL_ID, NEW_BAUDNUM);
    }

    // Set port baudrate to BAUDRATE
    if (dynamixel.setBaudRate(port_num, BAUDRATE))
    {
      System.out.printf("Succeed to change the controller baudrate to : %d\n", BAUDRATE);
    }
    else
    {
      System.out.println("Failed to change the controller baudrate");
      System.out.println("Press any key to terminate...");
      scanner.nextLine();
      return;
    }

    try {
      Thread.sleep(200);
    } catch (InterruptedException e) {
      System.out.println(e.getMessage());
    }

    // Read Dynamixel baudnum
    dxl_baudnum_read = dynamixel.read1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_MX_BAUDRATE);
    if ((dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
    {
      dynamixel.printTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
    }
    else if ((dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
    {
      dynamixel.printRxPacketError(PROTOCOL_VERSION, dxl_error);
    }
    else
    {
      System.out.printf("[ID: %d] Dynamixel Baudnum is now : %d", DXL_ID, dxl_baudnum_read);
    }

    return;
  }
}

Details

import java.util.Scanner;

The functions Scanner.* for I, are in the example code, and it uses java.util.Scanner library.

// Control table address
short ADDR_MX_BAUDRATE              = 4;                   // Control table address is different in Dynamixel model

Dynamixel series have their own control tables: Addresses and Byte Length in each items. To control one of the items, its address (and length if necessary) is required. Find your requirements in http://emanual.robotis.com/.

// Protocol version
int PROTOCOL_VERSION                = 1;                   // See which protocol version is used in the Dynamixel

Dynamixel uses either or both protocols: Protocol 1.0 and Protocol 2.0. Choose one of the Protocol which is appropriate in the Dynamixel.

// Default setting
byte DXL_ID                         = 1;                   // Dynamixel ID: 1-
int BAUDRATE                        = 1000000;
String DEVICENAME                   = "/dev/ttyUSB0";      // Check which port is being used on your controller
                                                           // ex) "COM1"   Linux: "/dev/ttyUSB0"

int FACTORYRST_DEFAULTBAUDRATE      = 57600;               // Dynamixel baudrate set by factoryreset
byte NEW_BAUDNUM                    = 1;                   // New baudnum to recover Dynamixel baudrate as it was
byte OPERATION_MODE                 = 0x00;                // Mode is unavailable in Protocol 1.0 Reset

Here we set some variables to let you freely change them and use them to run the example code.

As the document previously said in previous chapter, customize Dynamixel control table items, such as DXL_ID number, communication BAUDRATE, and the DEVICENAME, on your own terms of needs. In particular, BAUDRATE and DEVICENAME have systematical dependencies on your controller, so make clear what kind of communication method you will use.

Since the factory reset recovers the Dynamixel control table items to the original state, the baudrate of controller serial port should be set to its changed baudrate(FACTORYRST_DEFAULTBAUDRATE : 57600 bps) as well. After that, controller sets its baudrate to the value (1000000 bps : NEW_BAUDNUM = 1) before factory reset.

In Protocol 1.0, only one mode that resets whole items is avaiable.

int COMM_SUCCESS                    = 0;                   // Communication Success result value
int COMM_TX_FAIL                    = -1001;               // Communication Tx Failed

Each of the variables above show the meaning of the communication result value.

// Initialize PortHandler Structs
// Set the port path
// Get methods and members of PortHandlerLinux or PortHandlerWindows
int port_num = dynamixel.portHandler(DEVICENAME);

portHandler() function sets port path as DEVICENAME and get port_num, and prepares an appropriate functions for port control in controller OS automatically. port_num would be used in many functions in the body of the code to specify the port for use.

// Initialize PacketHandler Structs
dynamixel.packetHandler();

packetHandler() function initializes parameters used for packet construction and packet storing.

int dxl_comm_result = COMM_TX_FAIL;                        // Communication result

byte dxl_error = 0;                                        // Dynamixel error
byte dxl_baudnum_read;                                     // Read baudnum

dxl_comm_result indicates which error has been occurred during packet communication.

dxl_error shows the internal error in Dynamixel.

dxl_baudnum_read keeps Dynamixel baudrate.

// Open port
if (dynamixel.openPort(port_num))
{
  System.out.println("Succeeded to open the port!");
}
else
{
  System.out.println("Failed to open the port!");
  System.out.println("Press any key to terminate...");
  scanner.nextLine();
  return;
}

First, controller opens #port_num port to do serial communication with the Dynamixel. If it fails to open the port, the example will be terminated.

// Set port baudrate
if (dynamixel.setBaudRate(port_num, BAUDRATE))
{
  System.out.println("Succeeded to change the baudrate!");
}
else
{
  System.out.println("Failed to change the baudrate!");
  System.out.println("Press any key to terminate...");
  scanner.nextLine();
  return;
}

Secondly, the controller sets the communication BAUDRATE at #port_num port opened previously.

// Read present baudrate of the controller
System.out.printf("Now the controller baudrate is : %d\n", dynamixel.getBaudRate(port_num));

getBaudRate() function shows which baudrate is used in #port_num port of the controller.

// Try factoryreset
System.out.printf("[ID: %d] Try factoryreset : \n", DXL_ID);
dynamixel.factoryReset(port_num, PROTOCOL_VERSION, DXL_ID, OPERATION_MODE);
if ((dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
{
  System.out.println("Aborted");
  dynamixel.printTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
  return;
}
else if ((dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
{
  dynamixel.printRxPacketError(PROTOCOL_VERSION, dxl_error);
}

factoryReset() function orders to the #DXL_ID Dynamixel through #port_num port, executing it to be reset as OPERATION_MODE format. The function checks Tx/Rx result and receives Hardware error. getLastTxRxResult() function and getLastRxPacketError() function get either, and then printTxRxResult() function and printRxPacketError() function show results on the console window if any communication error or Hardware error has been occurred.

// Wait for reset
System.out.printf("Wait for reset...\n");
try
{
  Thread.sleep(2000);
}
catch (InterruptedException e)
{
  System.out.println(e.getMessage());
}

Factory reset takes few seconds.

// Set controller baudrate to dxl default baudrate
if (dynamixel.setBaudRate(port_num, FACTORYRST_DEFAULTBAUDRATE))
{
  System.out.printf("Succeed to change the controller baudrate to : %d\n", FACTORYRST_DEFAULTBAUDRATE);
}
else
{
  System.out.println("Failed to change the controller baudrate");
  System.out.println("Press any key to terminate...");
  scanner.nextLine();
  return;
}

Controller should change its baudrate itself to do the communication with initialized Dynamixel.

// Read Dynamixel baudnum
dxl_baudnum_read = dynamixel.read1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_MX_BAUDRATE);
if ((dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
{
  dynamixel.printTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
}
else if ((dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
{
  dynamixel.printRxPacketError(PROTOCOL_VERSION, dxl_error);
}
else
{
  System.out.printf("[ID: %d] Dynamixel baudnum is now : %d\n", DXL_ID, dxl_baudnum_read);
}

This shows that reconnection between controller and Dynamixel is happened by adjusting the baudrate.

// Write new baudnum
dynamixel.write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_MX_BAUDRATE, NEW_BAUDNUM);
if ((dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
{
  dynamixel.printTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
}
else if ((dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
{
  dynamixel.printRxPacketError(PROTOCOL_VERSION, dxl_error);
}
else
{
  System.out.printf("[ID: %d] Set Dynamixel baudnum to : %d\n", DXL_ID, NEW_BAUDNUM);
}

To make the Dynamixel into previous condition, write1ByteTxRx() function orders to the #DXL_ID Dynamixel in PROTOCOL_VERSION communication protocol through #port_num port, writing 1 byte of TORQUE_ENABLE value to ADDR_MX_TORQUE_ENABLE address. The function checks Tx/Rx result and receives Hardware error. getLastTxRxResult() function and getLastRxPacketError() function get either, and then printTxRxResult() function and printRxPacketError() function show results on the console window if any communication error or Hardware error has been occurred.

// Set port baudrate to BAUDRATE
if (dynamixel.setBaudRate(port_num, BAUDRATE))
{
  System.out.printf("Succeed to change the controller baudrate to : %d\n", BAUDRATE);
}
else
{
  System.out.println("Failed to change the controller baudrate");
  System.out.println("Press any key to terminate...");
  scanner.nextLine();
  return;
}

try
{
  Thread.sleep(200);
}
catch (InterruptedException e)
{
  System.out.println(e.getMessage());
}

// Read Dynamixel baudnum
dxl_baudnum_read = dynamixel.read1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_MX_BAUDRATE);
if ((dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
{
  dynamixel.printTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
}
else if ((dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
{
  dynamixel.printRxPacketError(PROTOCOL_VERSION, dxl_error);
}
else
{
  System.out.printf("[ID: %d] Dynamixel Baudnum is now : %d", DXL_ID, dxl_baudnum_read);
}

These changes controller baudrate and verify that the Dynamixel has been successfully set into previous state.

// Close port
dynamixel.closePort(port_num);

return;

Finally, port becomes disposed.