Example 2 - Moving the servo to a desired position

In this example, the servo is moved to a desired position. It is assumed you know the ID and correct baudrate to communicate with the servo. After moving the servo the actual position of the servo is displayed on the terminal.

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 /*
  * In this example, we will move the servo to 0[deg], 180[deg], and finally 360[deg].
  * Also, we will print the current position to the terminal.
  *
  * This example introduces the functions Dynamixel.move() and Dynamixel.readPosition()
  */

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 closest to the TX and RX pins
int errorMove, servoPos, servoCurrent, servoTorqueEnableStatus, gainD, gainI, gainP;
int servoID = 1;

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

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 loop has started

  int actualPos;

  //move to 0[deg] (bit-wise value 0)
  Dynamixel.move(servoID, 0);
  actualPos = Dynamixel.readPosition(servoID);
  Serial.print("The actual position is: ");
  Serial.println(actualPos);
  delay(1000);                            //wait one second

  //move to 180[deg] (bit-wise value 2048)
  Dynamixel.move(servoID, 2048);
  actualPos = Dynamixel.readPosition(servoID);
  Serial.print("The actual position is: ");
  Serial.println(actualPos);
  delay(1000);                            //wait one second

  //move to 360[deg] (bit-wise value 4095)
  Dynamixel.move(servoID, 4095);
  actualPos = Dynamixel.readPosition(servoID);
  Serial.print("The actual position is: ");
  Serial.println(actualPos);
  delay(1000);                            //wait one second

  digitalWrite(led1, LOW);
}

The output on the terminal should look similar to this:

Next I show the minimal functional code to make the example work. Start by including the library into your code:

#include <DuoDMXL.h>

The minimal code for setting up communication and other information in this example is:

int dataPin = D15;  //Pin used to control Data flow between the DUO and Dynamixel. By default we use the D15 Pin which is closest to the TX and RX pins
int errorMove, servoPos, servoCurrent, servoTorqueEnableStatus, gainD, gainI, gainP;
int servoID = 1;

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)
}

Finally, move the servo to a set of desired positions in a loop. In this minimal code I do not include the output to the terminal or blinking the LED:

void loop() {
  int actualPos;

  //move to 0[deg] (bit-wise value 0)
  Dynamixel.move(servoID, 0);
  delay(1000);                            //wait one second

  //move to 180[deg] (bit-wise value 2048)
  Dynamixel.move(servoID, 2048);
  delay(1000);                            //wait one second

  //move to 360[deg] (bit-wise value 4095)
  Dynamixel.move(servoID, 4095);
  delay(1000);                            //wait one second
}