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‎README.md

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‎examples/matlab/protocol 1.0/ReadSyncWrite.m

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% READSYNCWRITE Example file executing read and sync write functions for 1
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% or more Dynamixel motors under Protocol 1.0 communication
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%
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% Depending on the example code, the motor(s) need to be pre-set to joint
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% or wheel mode via the Dynamixel Wizard or equivalent software
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%
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% Part of the Dynamixel library for Matlab and Simulink
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% Author: Georgios Andrikopoulos ([email protected]), 2022
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% Mechatronics & Embedded Control Systems Unit, KTH, Stockholm
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clear
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close all
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clc
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% Set COM port
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com_port = 'COM8';
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% Set baudrate
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baud_rate = 1000000;
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% Set protocol Version
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protocol_version = 1;
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% Initialize library and port number
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[lib_name, port_num] = initDxl(com_port);
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% Open port
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openPortDxl(lib_name, port_num);
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% Set Baudrate
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setBaudDxl(lib_name, port_num, baud_rate);
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% Find dynamixels
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[motor_IDs, motor_models] = findDxl(lib_name, port_num, protocol_version);
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% Enable torque
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torqueDxl(lib_name, port_num, protocol_version, motor_IDs, ...
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motor_models, 'Enable');
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% Check error
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checkErrorDxl(lib_name, port_num, protocol_version)
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% Initialize sync write
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group_num_write = initSyncWriteDxl(lib_name, port_num, protocol_version,...
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motor_models, ["Goal Position"; "Moving Speed"]);
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%% Joint Mode Example
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clc
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% Data to write
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data = 500; % Example goal position for one motor
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% data = [1000 2000]; % Example goal position for two motors
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% Sync write function
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tic
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syncWriteDxl(lib_name, group_num_write(1), motor_IDs, motor_models, ...
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data, 'Goal Position')
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toc
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% Read functions
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tic
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readDxl(lib_name, port_num, protocol_version, motor_IDs, motor_models, ...
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'Present Position')
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readDxl(lib_name, port_num, protocol_version, motor_IDs, motor_models, ...
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'Present Speed')
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readDxl(lib_name, port_num, protocol_version, motor_IDs, motor_models, ...
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'Present Load')
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readDxl(lib_name, port_num, protocol_version, motor_IDs, motor_models, ...
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'Present Temperature')
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toc
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%% Wheel Mode Example
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clc
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% Data to write
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data = 500; % Example moving speed for one motor
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% data = [400 300]; % Example moving speeds for two motors
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% Sync write function
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tic
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syncWriteDxl(lib_name, group_num_write(2), motor_IDs, motor_models, ...
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data, 'Moving Speed')
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toc
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% Read functions
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tic
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readDxl(lib_name, port_num, protocol_version, motor_IDs, motor_models, ...
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'Present Position')
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readDxl(lib_name, port_num, protocol_version, motor_IDs, motor_models, ...
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'Present Speed')
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readDxl(lib_name, port_num, protocol_version, motor_IDs, motor_models, ...
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'Present Load')
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readDxl(lib_name, port_num, protocol_version, motor_IDs, motor_models, ...
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'Present Temperature')
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toc
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%% End Session
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clc
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% Disable torque
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torqueDxl(lib_name, port_num, protocol_version, motor_IDs, ...
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motor_models, 'Disable');
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% Check error
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checkErrorDxl(lib_name, port_num, protocol_version)
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% Close port
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closePortDxl(lib_name,port_num);

‎examples/matlab/protocol 1.0/ReadWrite.m

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% READWRITE Example file executing read and write functions for 1 or more
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% Dynamixel motors under Protocol 1.0 communication
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%
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% Depending on the example code, the motor(s) need to be pre-set to joint
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% or wheel mode via the Dynamixel Wizard or equivalent software
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%
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% Part of the Dynamixel library for Matlab and Simulink
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% Author: Georgios Andrikopoulos ([email protected]), 2022
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% Mechatronics & Embedded Control Systems Unit, KTH, Stockholm
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clear
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close all
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clc
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% Set COM port
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com_port = 'COM8';
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% Set baudrate
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baud_rate = 1000000;
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% Set protocol Version
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protocol_version = 1;
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% Initialize library and port number
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[lib_name, port_num] = initDxl(com_port);
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% Open port
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openPortDxl(lib_name, port_num);
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% Set Baudrate
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setBaudDxl(lib_name, port_num, baud_rate);
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% Find dynamixels
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[motor_IDs, motor_models] = findDxl(lib_name, port_num, protocol_version);
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% Enable torque
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torqueDxl(lib_name, port_num, protocol_version, motor_IDs, ...
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motor_models, 'Enable');
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% Check error
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checkErrorDxl(lib_name, port_num, protocol_version)
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%% Joint Mode Example
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% AX Motor: Make sure that the motor is set to joint mode before using
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% this example
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clc
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% Data to write
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data = 500; % Example goal position for one motor
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% data = [1000 500]; % Example goal position for two motors
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% Write function
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tic
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writeDxl(lib_name, port_num, protocol_version, motor_IDs, motor_models, ...
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data, 'Goal Position')
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toc
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% Read functions
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tic
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readDxl(lib_name, port_num, protocol_version, motor_IDs, motor_models, ...
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'Present Position')
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readDxl(lib_name, port_num, protocol_version, motor_IDs, motor_models, ...
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'Present Speed')
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readDxl(lib_name, port_num, protocol_version, motor_IDs, motor_models, ...
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'Present Load')
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readDxl(lib_name, port_num, protocol_version, motor_IDs, motor_models, ...
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'Present Temperature')
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toc
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%% Wheel Mode Examples
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% AX Motor: Make sure that the motor is set to wheel mode before using
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% this example
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clc
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% Data to write
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data = 300; % Example moving speed for one motor
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% data = [500 1000]; % Example moving speeds for two motors
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% Write function
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tic
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writeDxl(lib_name, port_num, protocol_version, motor_IDs, motor_models, ...
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data, 'Moving Speed')
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toc
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% Read functions
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tic
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readDxl(lib_name, port_num, protocol_version, motor_IDs, motor_models, ...
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'Present Position')
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readDxl(lib_name, port_num, protocol_version, motor_IDs, motor_models, ...
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'Present Speed')
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readDxl(lib_name, port_num, protocol_version, motor_IDs, motor_models, ...
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'Present Load')
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readDxl(lib_name, port_num, protocol_version, motor_IDs, motor_models, ...
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'Present Temperature')
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toc
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%% End Session
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clc
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% Disable torque
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torqueDxl(lib_name, port_num, protocol_version, motor_IDs, motor_models, ...
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'Disable');
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% Check error
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checkErrorDxl(lib_name, port_num, protocol_version)
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% Close port
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closePortDxl(lib_name,port_num);

‎examples/matlab/protocol 2.0/FastSyncReadFastSyncWrite.m

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% FASTSYNCREADFASTSYNCWRITE Example file executing fast sync read and fast
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% sync write functions for 2 Dynamixel motors under Protocol 2.0
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% communication and using indirect addresses.
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%
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% During the initialization phase, the motor(s) are set to 'Extended
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% Position Control' operating mode, while their drive mode is set to
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% 'Velocity-based Profile'.
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%
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% Part of the Dynamixel library for Matlab and Simulink
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% Author: Georgios Andrikopoulos ([email protected]), 2022
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% Mechatronics & Embedded Control Systems Unit, KTH, Stockholm
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clear
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close all
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clc
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% Set COM port
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com_port = 'COM8';
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% Set baudrate
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baud_rate = 4000000;
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% Set protocol Version
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protocol_version = 2;
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% Initialize library and port number
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[lib_name, port_num] = initDxl(com_port);
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% Open port
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openPortDxl(lib_name, port_num);
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% Set Baudrate
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setBaudDxl(lib_name, port_num, baud_rate);
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% Find dynamixels
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[motor_IDs, motor_models] = findDxl(lib_name, port_num, protocol_version);
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% Operating modes
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operatingModeDxl(lib_name, port_num, protocol_version, motor_IDs, ...
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motor_models, 'Extended Position Control');
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% Drive modes
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driveModeDxl(lib_name, port_num, protocol_version, motor_IDs, ...
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motor_models, 'Velocity-based Profile');
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% Indirect addresses are accessible only when the torque is disabled
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torqueDxl(lib_name, port_num, protocol_version, motor_IDs, ...
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motor_models, 'Disable');
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% Define the read and write quantities
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select_sync_write = ["Goal Position", "LED"];
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select_sync_read = ["Present Position", "Present Velocity", ...
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"Present Current/Load", "Present Temperature"];
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% Set indirect addresses for sync write
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[start_address_write_indirect, data_length_write_indirect] = ...
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setIndirectWriteDxl(lib_name, port_num, protocol_version, motor_IDs, ...
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motor_models, select_sync_write);
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% Set indirect addresses for fast sync read
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start_address_read_indirect = start_address_write_indirect + ...
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data_length_write_indirect;
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[start_address_read_indirect, data_length_read_indirect] = ...
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setIndirectReadDxl(lib_name, port_num, protocol_version, motor_IDs, ...
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motor_models, start_address_read_indirect, select_sync_read);
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% Enable torque
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torqueDxl(lib_name, port_num, protocol_version, motor_IDs, motor_models, ...
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'Enable');
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% Check error
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checkErrorDxl(lib_name, port_num, protocol_version)
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% Initialize sync write
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group_num_write = initSyncWriteIndirectDxl(lib_name, port_num, protocol_version,...
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motor_models, start_address_write_indirect, data_length_write_indirect);
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% Initialize sync read
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group_num_read = initSyncReadIndirectDxl(lib_name, port_num, protocol_version,...
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motor_models, start_address_read_indirect, data_length_read_indirect);
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% Add parameters for the sync read
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syncReadAddParamDxl(lib_name, group_num_read, motor_IDs);
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%% Example
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clc
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% Goal positions for 2 motors
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goal_positions = [1000 1000];
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% LED state for 2 motors
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LED = [0 0];
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% Set write properties
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data_write = [goal_positions; LED];
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% Fast sync write to indirect data
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tic
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fastSyncWriteDxl(lib_name, group_num_write, motor_IDs, motor_models, ...
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data_write, select_sync_write)
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toc
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% Fast sync read from indirect data
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tic
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read_data = fastSyncReadDxl(lib_name, group_num_read, motor_IDs, ...
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motor_models, select_sync_read, start_address_read_indirect);
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toc
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present_positions = read_data(1,:)
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present_velocities = read_data(2,:)
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present_currents = read_data(3,:)
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present_temperatures = read_data(4,:)
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%% End Session
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clc
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% Read clear parameters
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syncReadClearParamDxl(lib_name, group_num_read);
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% Disable torque
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torqueDxl(lib_name, port_num, protocol_version, motor_IDs, motor_models, ...
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'Disable');
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% Check error
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checkErrorDxl(lib_name, port_num, protocol_version)
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% Close port
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closePortDxl(lib_name,port_num);

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