Dynamixel Easy SDK Introduction

Overview

The Dynamixel_Easy_SDK is a library that wraps the low-level Dynamixel SDK in a motor-object-oriented design, making it easier for first-time users to work with Dynamixel.
Its primary goal is to provide a more intuitive and easier-to-use interface for controlling Dynamixel motors.

Features

Object-Oriented Design:

Each Dynamixel motor is managed as a distinct Motor object. By mapping the physical motor to a software object on a 1:1 basis, users can intuitively control a specific motor.

Intuitive Abstraction:

The Dynamixel Easy SDK provides functions with clear and descriptive names, allowing users to control motors without needing to understand the underlying protocol. For example, calling motor1.torque_enable() directly conveys its purpose, making the Dynamixel Easy SDK easy to learn and use.

Automatic Model Recognition:

The Dynamixel Easy SDK can automatically detect the connected Dynamixel model and load its corresponding control table, eliminating the need for manual configuration and simplifying development.

Error Handling:

Instead of returning a raw int, the Dynamixel Easy SDK now uses a result object that encapsulates both communication errors and Dynamixel-specific errors. This allows developers to handle all error cases in a unified way, making error logging code more concise and improving readability.

Supported Environments

Programming Languages: C++ (17 standard or later)
Operating Systems: Linux 64-bit
Protocols: 2.0