Example 0 - Setting the ID of your servo

In this example, a servo with ID = 1 will be change to 2. You will need to do this often with your servos since all come with the default ID of 1. Make sure only one servo is connected to the bus.

/*
 * Copyright (c) 2016 Fabian Eugenio Reyes Pinner (Fabian Reyes)
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
 * to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
 * and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
 * IN THE SOFTWARE.
 *
 */

 /*
  * In this example, we will change the ID of the servo from '1' to '2'. Be sure that only one servo is connected.
  */

SYSTEM_MODE(MANUAL);  //do not connect to the cloud. Communicate with the servo immediately

//The DuoDMXL library allows communication with the servo
#include <DuoDMXL.h>

int dataPin = D15;  //Pin used to control Data flow between the DUO and Dynamixel. By default we use the D15 Pin which is closes to the TX and RX pins
int servoID = 1;
int newID = 2;
long baud = 57600;  //Baudrate for communication with Dynamixel servos (Depending of your servo, this may be 1Mbps by default)

void setup() {

  Serial.begin(115200);               //Start communication with the PC;
  Dynamixel.begin(baud, dataPin);     // Initialize the servo at Baud Rate (baud) and Pin Control (dataPin)

  delay(1000);                        //Let's wait a little bit

  Dynamixel.setID(servoID, newID);

}

void loop() {
  //Do whatever you want with the servo now. Remember the servo has the new ID

  Dynamixel.move(newID, 0);

  delay(1000);

  Dynamixel.move(newID, 4095);

  delay(1000);
}