This library provide a server to handle all the devices connected to a Dynamixel Bus and also low level read and write functions to access each one of this devices.
The server allows to:
- Scan the bus for devices: it checks all the possible addresses (from 0 to 254) for all the possible frequencies. Once a device responds in a given frequency, all other frequencies are discarded.
- Change the ID of a given device on the bus. By default all devices came with the same address (0) and it is necessary to change it in order to have multiple devices on the same bus.
- Change the bus baudrate. Some device have a slow baudrate by default and to achive the peak performance it is necessary to change it.
For each device, the following operations are provided:
- Read and write to any 8 or 16 bit register. Allow access to all the device registers.
- Synchronized write operations. Allow loading a given value to a given register to all the devices at the same time. The value is sent to the device using a REG_WRITE operation, but it does not take effect until the ACTION command is sent.
- Broadcast a command to several devices.
## Dependencies
This package requires of the following system libraries and packages
*[cmake](https://www.cmake.org"CMake's Homepage"), a cross-platform build system.
*[doxygen](http://www.doxygen.org"Doxygen's Homepage") and [graphviz](http://www.graphviz.org"Graphviz's Homepage") to generate the documentation.
* stdc++ and pthread libraries.
Under linux all of these utilities are available in ready-to-use packages.
Under MacOS most of the packages are available via [fink](http://www.finkproject.org/"Fink's Homepage")
This package also requires of the following IRI libraries:
*[iriutils](https://gitlab.iri.upc.edu/labrobotica/algorithms/iriutils"iriutils gitlab page"), a set of basic tools.
*[comm](https://gitlab.iri.upc.edu/labrobotica/drivers/comm"comm gitlab page"), a set of basic communication drivers.
## Compilation and installation
Download this repository and create a build folder inside:
``` mkdir build ```
Inside the build folder execute the following commands:
``` cmake .. ```
The default build mode is DEBUG. That is, objects and executables include debug information.
The RELEASE build mode optimizes for speed. To build in this mode execute instead
``` cmake .. -DCMAKE_BUILD_TYPE=RELEASE ```
The release mode will be kept until next time cmake is executed.
``` make ```
In case no errors are reported, the generated libraries (if any) will be located at the
_lib_ folder and the executables (if any) will be located at the _bin_ folder.
In order to be able to use the library, it it necessary to copy it into the system.
To do that, execute
``` make install ```
as root and the shared libraries will be copied to */usr/local/lib/iridrivers* directory
and the header files will be copied to */usr/local/include/iridrivers* directory. At
this point, the library may be used by any user.
To remove the library from the system, exceute
``` make uninstall ```
as root, and all the associated files will be removed from the system.
To generate the documentation execute the following command:
``` make doc ```
## How to use it
To use this library in an other library or application, in the CMakeLists.txt file, first it is necessary to locate if the library has been installed or not using the following command
``` FIND_PACKAGE(project_name) ```
In the case that the package is present, it is necessary to add the header files directory to the include directory path by using
Copyright (C) 2009-2018 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
Mantainer author_name (author_email)
This package is distributed in the hope that it will be useful, but without any warranty. It is provided "as is" without warranty of any kind, either expressed or implied, including, but not limited to, the implied warranties of merchantability and fitness for a particular purpose. The entire risk as to the quality and performance of the program is with you. should the program prove defective, the GMR group does not assume the cost of any necessary servicing, repair or correction.
In no event unless required by applicable law the author will be liable to you for damages, including any general, special, incidental or consequential damages arising out of the use or inability to use the program (including but not limited to loss of data or data being rendered inaccurate or losses sustained by you or third parties or a failure of the program to operate with any other programs), even if the author has been advised of the possibility of such damages.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>
This library provide a server to handle all the devices connected to a Dynamixel Bus and also low level read and write functions to access each one of this devices.
The server allows to:
- Scan the bus for devices: it checks all the possible addresses (from 0 to 254) for all the possible frequencies. Once a device responds in a given frequency, all other frequencies are discarded.
- Change the ID of a given device on the bus. By default all devices came with the same address (0) and it is necessary to change it in order to have multiple devices on the same bus.
- Change the bus baudrate. Some device have a slow baudrate by default and to achive the peak performance it is necessary to change it.
For each device, the following operations are provided:
- Read and write to any 8 or 16 bit register. Allow access to all the device registers.
- Synchronized write operations. Allow loading a given value to a given register to all the devices at the same time. The value is sent to the device using a REG_WRITE operation, but it does not take effect until the ACTION command is sent.
- Broadcast a command to several devices.
There exists a Graphical User Interface (GUI) application which allows easy access to all the features provided by this library. This application can be downloaded from <A href="http://wikiri.upc.es/index.php/Dynamixel_Manager">here</a>
\subsection Pre-Requisites
This package requires of the following libraries and packages
- <A href="http://www.cmake.org">cmake</A>, a cross-platform build system.
- <A href="http://www.doxygen.org">doxygen</a> and
<A href="http://www.graphviz.org">graphviz</a> to generate the documentation.
- stdc++,
- <A href="http://wikiri.upc.es/index.php/Utilities_library">utilities library</a>, a set of basic tools to develop software.
- <A href="http://wikiri.upc.es/index.php/Communications_library">communications library</a>, a set of comunication drivers used to access the dynamixel bus.
.
Under MacOS most of the packages are available via <a href="http://www.finkproject.org/">fink</a>. <br>
\subsection Compilation
Just download this package, uncompress it, and execute
- cd build
- cmake ..
.
to generate the makefile and then
- make
.
to obtain the shared library (in this case called <em>iriutils.so</em>) and
also all the example programs.
The <em>cmake</em> only need to be executed once (make will automatically call
<em>cmake</em> if you modify one of the <em>CMakeList.txt</em> files).
To generate this documentation type
- make doc
.
The files in the <em>build</em> directory are genetated by <em>cmake</em>
and <em>make</em> and can be safely removed.
After doing so you will need to call cmake manually again.
\subsection Configuration
The default build mode is DEBUG. That is, objects and executables
include debug information.
The RELEASE build mode optimizes for speed. To build in this mode
execute
- cmake .. -DCMAKE_BUILD_TYPE=RELEASE
.
The release mode will be kept until next time cmake is executed.
\subsection Installation
In order to be able to use the library, it it necessary to copy it into the system.
To do that, execute
- make install
.
as root and the shared libraries will be copied to <em>/usr/local/lib/iriutils</em> directory
and the header files will be copied to <em>/usr/local/include/iriutils</em> dierctory. At
this point, the library may be used by any user.
To remove the library from the system, exceute
- make uninstall
.
as root, and all the associated files will be removed from the system.
\section Customization
To build a new application using these library, first it is necessary to locate if the library
has been installed or not using the following command
- FIND_PACKAGE(dynamixel)
In the case that the package is present, it is necessary to add the header files directory to
the include directory path by using
- INCLUDE_DIRECTORIES(${dynamixel_INCLUDE_DIR})
Finally, it is also nevessary to link with the desired libraries by using the following command
