Example 1 - Reading the information of your servo

In this example, general information about the servo (e.g., ID, model, values of several memory registers) is obtained and then displayed on the output of the terminal.

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 /*
  * In this example, the information (for example, configured values in its EEPROM or RAM area) of a servo will be obtained and displayed into the terminal.
  * It is assumed that the ID of the servo is '1' and the baudrate configured is '57600'. This may be different of your setup, so just change the necessary
  * parameters.
  */

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 led1 = D7;      //onboard LED
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;
long baud = 57600;  //Baudrate for communication with Dynamixel servos (Depending of your servo, this may be 1Mbps by default)

void servoIntroduction(unsigned char servoID);  //custom function

void setup() {
  pinMode(led1, OUTPUT);              //prepare the on-board LED

  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

}

void loop() {

    digitalWrite(led1, HIGH);               //turn on on-board LED to show that the self-introduction has started

    servoIntroduction(servoID);             //print the information of the servo with ID = servoID

    digitalWrite(led1, LOW);

    delay(1000);                            //wait one second and show the information again
}

//Basic information about the servo
void servoIntroduction(uint8_t servoID){
  Serial.println("------------------------------------------");

  Serial.print("Hi, I am a servo model ");
  Serial.print(Dynamixel.readModel(servoID));
  Serial.print(" with Firmware version ");
  Serial.print(Dynamixel.readFirmware(servoID));
  Serial.print(", my ID is ");
  Serial.print(Dynamixel.readID(servoID));
  Serial.print(", communicating at a baudrate of ");
  Serial.print(Dynamixel.readBD(servoID));
  Serial.print(", with a RDT of ");
  Serial.println(Dynamixel.readRDT(servoID));

  Serial.print("CW limit set as ");
  Serial.print(Dynamixel.readCWAngleLimit(servoID));
  Serial.print(", CCW limit set as ");
  Serial.println(Dynamixel.readCCWAngleLimit(servoID));

  Serial.print("The temperature limit, lowest voltage limit, highest voltage limit, and max torque are: ");
  Serial.print(Dynamixel.readTempLimit(servoID));
  Serial.print(", ");
  Serial.print(Dynamixel.readLowVoltageLimit(servoID));
  Serial.print(", ");
  Serial.print(Dynamixel.readHighVoltageLimit(servoID));
  Serial.print(", ");
  Serial.println(Dynamixel.readMaxTorque(servoID));

  Serial.print("My Status return level, Alarm LED, and shutdown alarm settings are: ");
  Serial.print(Dynamixel.readSRL(servoID));
  Serial.print(", ");
  Serial.print(Dynamixel.readAlarmLED(servoID));
  Serial.print(", ");
  Serial.println(Dynamixel.readShutdownAlarm(servoID));

  Serial.print("The multi-turn offset setting and resolution divider are: ");
  Serial.print(Dynamixel.readMultiTurnOffset(servoID));
  Serial.print(", ");
  Serial.println(Dynamixel.readResolutionDivider(servoID));

  Serial.print("The DIP gains are: ");
  Serial.print(Dynamixel.readGainD(servoID));
  Serial.print(", ");
  Serial.print(Dynamixel.readGainI(servoID));
  Serial.print(", and ");
  Serial.println(Dynamixel.readGainP(servoID));

  Serial.print("The value of moving speed is: ");
  Serial.println(Dynamixel.readMovingSpeed(servoID));
  Serial.print("The value of torque limit (goal torque) is: ");
  Serial.println(Dynamixel.readTorqueLimit(servoID));

  Serial.print("My present load is: ");
  Serial.println(Dynamixel.readLoad(servoID));
  Serial.print("I am operating at a voltage of ");
  Serial.print(Dynamixel.readVoltage(servoID));
  Serial.print(" and a temperature of ");
  Serial.println(Dynamixel.readTemperature(servoID));

  Serial.print("Is there a function waiting to be executed in Registered?: ");
  Serial.println(Dynamixel.registeredStatus(servoID));

  Serial.print("Is a moving (goal_position) command being executed?: ");
  Serial.println(Dynamixel.moving(servoID));

  Serial.println("------------------------------------------");
}

The terminal's output should look similar to this:

As you can see the code is relatively simple. First, include the library into your code:

#include <DuoDMXL.h>

The minimal code for setting up communication is:

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
long baud = 57600;  //Baudrate for communication with Dynamixel servos (Depending of your servo, this may be 1Mbps by default)

void servoIntroduction(unsigned char servoID);  //custom function

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)
}

Finally, the loop has to call the custom function servoIntroduction() continuously:

void loop() {
    servoIntroduction(servoID);             //print the information of the servo with ID = servoID
    delay(1000);                            //wait one second and show the information again
}