DYNAMIXEL SDK

Matlab Read Write Protocol 2.0

Description

This example writes goal position to the Dynamixel and repeats to read present position until it stops moving. The funtions that are related with the Read and the Write handle the number of items which are near each other in the Dynamixel control table, such as the goal position and the goal velocity.
Available Dynamixel

All series using protocol 2.0

Sample code

%
% read_write.m
%
%  Created on: 2016. 6. 7.
%      Author: Ryu Woon Jung (Leon)
%

%
% *********     Read and Write Example      *********
%
%
% Available Dynamixel model on this example : All models using Protocol 2.0
% This example is designed for using a Dynamixel PRO 54-200, and an USB2DYNAMIXEL.
% To use another Dynamixel model, such as X series, see their details in E-Manual(support.robotis.com) and edit below "#define"d variables yourself.
% Be sure that Dynamixel PRO properties are already set as %% ID : 1 / Baudnum : 3 (Baudrate : 1000000 [1M])
%

clc;
clear all;

% Load Libraries
if ~libisloaded('dxl_x86_c');
    [notfound, warnings] = loadlibrary('dxl_x86_c', 'dynamixel_sdk.h', 'addheader', 'port_handler.h', 'addheader', 'packet_handler.h');
end

% Control table address
ADDR_PRO_TORQUE_ENABLE       = 562;         % Control table address is different in Dynamixel model
ADDR_PRO_GOAL_POSITION       = 596;
ADDR_PRO_PRESENT_POSITION    = 611;

% Protocol version
PROTOCOL_VERSION            = 2.0;          % See which protocol version is used in the Dynamixel

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

TORQUE_ENABLE               = 1;            % Value for enabling the torque
TORQUE_DISABLE              = 0;            % Value for disabling the torque
DXL_MINIMUM_POSITION_VALUE  = -150000;      % Dynamixel will rotate between this value
DXL_MAXIMUM_POSITION_VALUE  = 150000;       % and this value (note that the Dynamixel would not move when the position value is out of movable range. Check e-manual about the range of the Dynamixel you use.)
DXL_MOVING_STATUS_THRESHOLD = 20;           % Dynamixel moving status threshold

ESC_CHARACTER               = 'e';          % Key for escaping loop

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

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

% Initialize PacketHandler Structs
packetHandler();

index = 1;
dxl_comm_result = COMM_TX_FAIL;           % Communication result
dxl_goal_position = [DXL_MINIMUM_POSITION_VALUE DXL_MAXIMUM_POSITION_VALUE];         % Goal position

dxl_error = 0;                              % Dynamixel error
dxl_present_position = 0;                   % Present position


% Open port
if (openPort(port_num))
    fprintf('Succeeded to open the port!\n');
else
    unloadlibrary('dxl_x86_c');
    fprintf('Failed to open the port!\n');
    input('Press any key to terminate...\n');
    return;
end


% Set port baudrate
if (setBaudRate(port_num, BAUDRATE))
    fprintf('Succeeded to change the baudrate!\n');
else
    unloadlibrary('dxl_x86_c');
    fprintf('Failed to change the baudrate!\n');
    input('Press any key to terminate...\n');
    return;
end


% Enable Dynamixel Torque
write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_PRO_TORQUE_ENABLE, TORQUE_ENABLE);
if getLastTxRxResult(port_num, PROTOCOL_VERSION) ~= COMM_SUCCESS
    printTxRxResult(PROTOCOL_VERSION, getLastTxRxResult(port_num, PROTOCOL_VERSION));
elseif getLastRxPacketError(port_num, PROTOCOL_VERSION) ~= 0
    printRxPacketError(PROTOCOL_VERSION, getLastRxPacketError(port_num, PROTOCOL_VERSION));
else
    fprintf('Dynamixel has been successfully connected \n');
end


while 1
    if input('Press any key to continue! (or input e to quit!)\n', 's') == ESC_CHARACTER
        break;
    end

    % Write goal position
    write4ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_PRO_GOAL_POSITION, typecast(int32(dxl_goal_position(index)), 'uint32'));
    if getLastTxRxResult(port_num, PROTOCOL_VERSION) ~= COMM_SUCCESS
        printTxRxResult(PROTOCOL_VERSION, getLastTxRxResult(port_num, PROTOCOL_VERSION));
    elseif getLastRxPacketError(port_num, PROTOCOL_VERSION) ~= 0
        printRxPacketError(PROTOCOL_VERSION, getLastRxPacketError(port_num, PROTOCOL_VERSION));
    end

    while 1
        % Read present position
        dxl_present_position = read4ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_PRO_PRESENT_POSITION);
        if getLastTxRxResult(port_num, PROTOCOL_VERSION) ~= COMM_SUCCESS
            printTxRxResult(PROTOCOL_VERSION, getLastTxRxResult(port_num, PROTOCOL_VERSION));
        elseif getLastRxPacketError(port_num, PROTOCOL_VERSION) ~= 0
            printRxPacketError(PROTOCOL_VERSION, getLastRxPacketError(port_num, PROTOCOL_VERSION));
        end

        fprintf('[ID:%03d] GoalPos:%03d  PresPos:%03d\n', DXL_ID, dxl_goal_position(index), typecast(uint32(dxl_present_position), 'int32'));

        if ~(abs(dxl_goal_position(index) - typecast(uint32(dxl_present_position), 'int32')) > DXL_MOVING_STATUS_THRESHOLD)
            break;
        end
    end

    % Change goal position
    if index == 1
        index = 2;
    else
        index = 1;
    end
end


% Disable Dynamixel Torque
write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_PRO_TORQUE_ENABLE, TORQUE_DISABLE);
if getLastTxRxResult(port_num, PROTOCOL_VERSION) ~= COMM_SUCCESS
    printTxRxResult(PROTOCOL_VERSION, getLastTxRxResult(port_num, PROTOCOL_VERSION));
elseif getLastRxPacketError(port_num, PROTOCOL_VERSION) ~= 0
    printRxPacketError(PROTOCOL_VERSION, getLastRxPacketError(port_num, PROTOCOL_VERSION));
end

% Close port
closePort(port_num);

% Unload Library
unloadlibrary('dxl_x86_c');

close all;
clear all;

Details

% Load Libraries
if ~libisloaded('dxl_x86_c');
    [notfound, warnings] = loadlibrary('dxl_x86_c', 'dynamixel_sdk.h', 'addheader', 'port_handler.h', 'addheader', 'packet_handler.h');
end

This example uses dynamixel library imported by loadlibrary().

% Control table address
ADDR_PRO_TORQUE_ENABLE       = 562;         % Control table address is different in Dynamixel model
ADDR_PRO_GOAL_POSITION       = 596;
ADDR_PRO_PRESENT_POSITION    = 611;

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
PROTOCOL_VERSION            = 2.0;          % 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
DXL_ID                      = 1;            % Dynamixel ID: 1
BAUDRATE                    = 1000000;
DEVICENAME                  = 'COM1';       % Check which port is being used on your controller
                                            % ex) Windows: "COM1"   Linux: "/dev/ttyUSB0"

TORQUE_ENABLE               = 1;            % Value for enabling the torque
TORQUE_DISABLE              = 0;            % Value for disabling the torque
DXL_MINIMUM_POSITION_VALUE  = -150000;      % Dynamixel will rotate between this value
DXL_MAXIMUM_POSITION_VALUE  = 150000;       % and this value (note that the Dynamixel would not move when the position value is out of movable range. Check e-manual about the range of the Dynamixel you use.)
DXL_MOVING_STATUS_THRESHOLD = 20;           % Dynamixel moving status threshold

ESC_CHARACTER               = 'e';          % Key for escaping loop

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

As the document already 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.

Dynamixel basically needs the TORQUE_ENABLE to be rotating or give you its internal information. On the other hand, it doesn’t need torque enabled if you get your goal, so finally do TORQUE_DISABLE to prepare to the next sequence.

Since the Dynamixel has its own rotation range, it may shows malfunction if your request on your dynamixel is out of range. For example, Dynamixel MX-28 and Dynamixel PRO 54-200 has its rotatable range as 0 ~ 4028 and -250950 ~ 250950, each.

DXL_MOVING_STATUS_THRESHOLD acts as a criteria for verifying its rotation stopped.

COMM_SUCCESS                = 0;            % Communication Success result value
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
port_num = 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
packetHandler();

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

index = 1;
dxl_comm_result = COMM_TX_FAIL;           % Communication result
dxl_goal_position = [DXL_MINIMUM_POSITION_VALUE DXL_MAXIMUM_POSITION_VALUE];         % Goal position

dxl_error = 0;                              % Dynamixel error
dxl_present_position = 0;                   % Present position

index variable points the direction to where the Dynamixel should be rotated.

dxl_comm_result indicates which error has been occurred during packet communication.

dxl_goal_position stores goal points of Dynamixel rotation.

dxl_error shows the internal error in Dynamixel.

dxl_present_position views where now it points out.

% Open port
if (openPort(port_num))
    fprintf('Succeeded to open the port!\n');
else
    unloadlibrary('dxl_x86_c');
    fprintf('Failed to open the port!\n');
    input('Press any key to terminate...\n');
    return;
end

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 (setBaudRate(port_num, BAUDRATE))
    fprintf('Succeeded to change the baudrate!\n');
else
    unloadlibrary('dxl_x86_c');
    fprintf('Failed to change the baudrate!\n');
    input('Press any key to terminate...\n');
    return;
end

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

% Enable Dynamixel Torque
write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_PRO_TORQUE_ENABLE, TORQUE_ENABLE);
if getLastTxRxResult(port_num, PROTOCOL_VERSION) ~= COMM_SUCCESS
    printTxRxResult(PROTOCOL_VERSION, getLastTxRxResult(port_num, PROTOCOL_VERSION));
elseif getLastRxPacketError(port_num, PROTOCOL_VERSION) ~= 0
    printRxPacketError(PROTOCOL_VERSION, getLastRxPacketError(port_num, PROTOCOL_VERSION));
else
    fprintf('Dynamixel has been successfully connected \n');
end

As mentioned in the document, above code enables Dynamixel torque to set its status as being ready to move.

write1ByteTxRx() function sends an instruction to the #DXL_ID Dynamixel in PROTOCOL_VERSION communication protocol through #port_num port, writing 1 byte of TORQUE_ENABLE value to ADDR_PRO_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.

while 1
    if input('Press any key to continue! (or input e to quit!)\n', 's') == ESC_CHARACTER
        break;
    end

    % Write goal position
    write4ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_PRO_GOAL_POSITION, typecast(int32(dxl_goal_position(index)), 'uint32'));
    if getLastTxRxResult(port_num, PROTOCOL_VERSION) ~= COMM_SUCCESS
        printTxRxResult(PROTOCOL_VERSION, getLastTxRxResult(port_num, PROTOCOL_VERSION));
    elseif getLastRxPacketError(port_num, PROTOCOL_VERSION) ~= 0
        printRxPacketError(PROTOCOL_VERSION, getLastRxPacketError(port_num, PROTOCOL_VERSION));
    end

    while 1
        % Read present position
        dxl_present_position = read4ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_PRO_PRESENT_POSITION);
        if getLastTxRxResult(port_num, PROTOCOL_VERSION) ~= COMM_SUCCESS
            printTxRxResult(PROTOCOL_VERSION, getLastTxRxResult(port_num, PROTOCOL_VERSION));
        elseif getLastRxPacketError(port_num, PROTOCOL_VERSION) ~= 0
            printRxPacketError(PROTOCOL_VERSION, getLastRxPacketError(port_num, PROTOCOL_VERSION));
        end

        fprintf('[ID:%03d] GoalPos:%03d  PresPos:%03d\n', DXL_ID, dxl_goal_position(index), typecast(uint32(dxl_present_position), 'int32'));

        if ~(abs(dxl_goal_position(index) - typecast(uint32(dxl_present_position), 'int32')) > DXL_MOVING_STATUS_THRESHOLD)
            break;
        end
    end

    % Change goal position
    if index == 1
        index = 2;
    else
        index = 1;
    end
end

During while loop, the controller writes and reads the Dynamixel position through packet transmission/reception(Tx/Rx).

To continue its rotation, press any key except ESC.

write4ByteTxRx() function sends an instruction to the #DXL_ID Dynamixel in PROTOCOL_VERSION communication protocol through #port_num port, writing 4 byte of dxl_goal_position[index] value to ADDR_PRO_GOAL_POSITION 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.

read4ByteTxRx() function sends an instruction to the #DXL_ID Dynamixel in PROTOCOL_VERSION communication protocol through #port_num port, requesting 4 bytes of value in ADDR_PRO_PRESENT_POSITION 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.

Reading its present position will be ended when absolute value of (dxl_goal_position[index] - dxl_present_position) becomes smaller then DXL_MOVING_STATUS_THRESHOLD.

At last, it changes its direction to the counter-wise and waits for extra key input.

% Disable Dynamixel Torque
write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_PRO_TORQUE_ENABLE, TORQUE_DISABLE);
if getLastTxRxResult(port_num, PROTOCOL_VERSION) ~= COMM_SUCCESS
    printTxRxResult(PROTOCOL_VERSION, getLastTxRxResult(port_num, PROTOCOL_VERSION));
elseif getLastRxPacketError(port_num, PROTOCOL_VERSION) ~= 0
    printRxPacketError(PROTOCOL_VERSION, getLastRxPacketError(port_num, PROTOCOL_VERSION));
end

The controller frees the Dynamixel to be idle.

write1ByteTxRx() function sends an instruction to the #DXL_ID Dynamixel in PROTOCOL_VERSION communication protocol through #port_num port, writing 1 byte of TORQUE_DISABLE value to ADDR_PRO_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.

% Close port
closePort(port_num);

Finally, port becomes disposed.

% Unload Library
unloadlibrary('dxl_x86_c');

Unload the library to make it reaccessible.