Example 4 - Finding your servo

If by any chance you don't remember the ID of your servo or the correct baudrate to communicate with it, then the servo is useless. However, with this function you can find it (connect only one servo to the bus). The servo ID and the baudrate it uses to communicate will be printed on the serial monitor. The baudrate value will be an integer [0,255]. Refer to the ROBOTIS manual for its equivalent in bps.

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 /*
  * In this example, we will try to find a servo without knowing its ID nor the correct baudrate for communication.
  * In this case, you do not neet to use Dynamixel.begin() to start communication.
  * The results of the search will be printed onto the Serial Monitor.
  */

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

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

  Serial.begin(115200);                   //Start communication with the PC;

  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

  Dynamixel.findServo(dataPin);           //To start searching for the servo, specify the pinthat controls the direction of communication. By default D15 in Duo (Redbear)

  digitalWrite(led1, LOW);
}

The output of the terminal will look like this:

The servo found has ID 2 and the baudrate (table value) is 34. According to the Robotis manual, this corresponds to 57142.9 bps (often rounded up to 57600 bps).