Dynamixel Servo Library

This is a Java Robotics Framework with specific support for Dynamixel Servos.

Currently this framework is tested with two different Dynamixel Servo's namely:

• Dynamixel AX-12 (using protocol 1.0)
• Dynamixel XL430-W250T (using protocol 2.0)

Also is a built-in Robotis motion file converter that allows you to execute motion files created by RoboPlus Motion editor in the controller code.

Next to this there is a web console that allows controlling the servos from a nice WEB-UI and a REST API to control via direct alls if so desired.

Using the Dynamixel Web Console

The web console for controlling the servo's is packaged as a spring boot application, the best way to start this is to run the following command:

mvn -f dynamixel-web/pom.xml spring-boot:run

If no parameters are set the application will not detect your servo's, look below for the configuration settings.

Configuring the Servo's

In order for the Dynamixel servo's to be detected please set the following properties:

#COM port, this is the mac, this string varies per OS, default not configured
-Ddynamixel.port=/dev/tty.usbmodem1441
#Baud rate at which the servo's talk, on OSX this is limited to max 500000, default is 57600, default dynamixels are configured for 1Mbit, 
#you need to reconfigure them in that case using the Dynamixel Manager from Robotis
-Ddynamixel.baudrate=57600
#Enable the Dynamixel V2 protocol, cannot be mixed with V1 is needed for newer Dynamixel Servos, default is disabled
-Dprotocol.v2.enabled=false

The full command could look like this

mvn -f dynamixel-web/pom.xml spring-boot:run -Ddynamixel.port=/dev/tty.usbmodem1441 -Ddynamixel.baudrate=57600 -Dprotocol.v2.enabled=false 

Usage

In order to use the library in your own project, please clone the repository and make sure you build it locally. The main dependency will be the dynamixel-core library for maven users.

As this is a spring based project, please import the DynamixelConfiguration bean in your project, and ensure above settings are specified as either startup parameters, environment var or in a property file.

Note: Once the library is more mature we will provide artefacts via Maven Central, for now it all depends on local builds.

Build Requirements

• Java >= 8
• Maven >= 3.1.x