Dynamixel2Arduino

Serial and Direction Pin definitions by board

• The examples defines GPIO pins based on the use with DYNAMIXEL Shields.

• When running DYNAMIXEL without DYNAMIXEL Shields on OpenCM9.04, OpenCR or custom boards, you might need to change the Serial and DYNAMIXEL Direction Pin.

• We provide the information below to make it easier to define Serial and Direction pins for specific hardware.

  Board Name	Serial	Direction Pin	Note
  OpenCM9.04	Serial1	28	because of the OpenCM 9.04 driver code, you must call Serial1.setDxlMode(true); before dxl.begin();.
  OpenCM485EXP	Serial3	22
  OpenCR	Serial3	84	For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it. (Reference link)

How to add new DYNAMIXEL model.

• For the convenience of the user, Dynamixel2Arduino API hardcodes some information in the control table and stores it in flash.
• To do this, you need to add code to some files. In this regard, please refer to PR#3 and PR#7

How to create custom PortHandler Class

• Please refer to port_handler.h
• Create a new class by inheriting PortHandler as public. (Like SerialPortHandler and USBSerialPortHandler)

TODO

• Separation of protocol codes (protocol, packet handler)