Merge pull request #92 from ROBOTIS-GIT/develop

Develop

Author: ROBOTIS-David

examples/advanced/pid_tuning/pid_tuning.ino

@@ -0,0 +1,129 @@
+/*******************************************************************************
+* Copyright 2022 ROBOTIS CO., LTD.
+*
+* Licensed under the Apache License, Version 2.0 (the "License");
+* you may not use this file except in compliance with the License.
+* You may obtain a copy of the License at
+*
+*     http://www.apache.org/licenses/LICENSE-2.0
+*
+* Unless required by applicable law or agreed to in writing, software
+* distributed under the License is distributed on an "AS IS" BASIS,
+* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+* See the License for the specific language governing permissions and
+* limitations under the License.
+*******************************************************************************/
+
+// Tutorial Video: https://youtu.be/msWlMyx8Nrw
+// Example Environment
+//
+// - DYNAMIXEL: X series
+//              ID = 1, Baudrate = 57600bps, DYNAMIXEL Protocol 2.0
+// - Controller: Arduino MKR ZERO
+//               DYNAMIXEL Shield for Arduino MKR
+// - https://emanual.robotis.com/docs/en/parts/interface/mkr_shield/
+// - Adjust the position_p_gain, position_i_gain, position_d_gain values
+// Author: David Park
+
+#include <Dynamixel2Arduino.h>
+
+// Please modify it to suit your hardware.
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
+  #include <SoftwareSerial.h>
+  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL soft_serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
+  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
+  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
+  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
+  #define DXL_SERIAL   Serial3
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+#else // Other boards when using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#endif
+
+const uint8_t DXL_ID = 1;
+const uint32_t DXL_BAUDRATE = 57600;
+const float DXL_PROTOCOL_VERSION = 2.0;
+
+int32_t goal_position[2] = {1200, 1600};
+int8_t direction = 0;
+unsigned long timer = 0;
+
+// Position PID Gains
+// Adjust these gains to tune the behavior of DYNAMIXEL
+uint16_t position_p_gain = 0;
+uint16_t position_i_gain = 0;
+uint16_t position_d_gain = 0;
+
+Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
+
+//This namespace is required to use Control table item names
+using namespace ControlTableItem;
+
+void setup() {
+  // put your setup code here, to run once:
+  // For Uno, Nano, Mini, and Mega, use the UART port of the DYNAMIXEL Shield to read debugging messages.
+  DEBUG_SERIAL.begin(57600);
+  while(!DEBUG_SERIAL);
+
+  // Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
+  dxl.begin(DXL_BAUDRATE);
+  // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
+  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
+  // Get DYNAMIXEL information
+  dxl.ping(DXL_ID);
+
+  // Turn off torque when configuring items in EEPROM area
+  dxl.torqueOff(DXL_ID);
+  dxl.setOperatingMode(DXL_ID, OP_POSITION);
+  dxl.torqueOn(DXL_ID);
+  
+  // Set Position PID Gains
+  dxl.writeControlTableItem(POSITION_P_GAIN, DXL_ID, position_p_gain);
+  dxl.writeControlTableItem(POSITION_I_GAIN, DXL_ID, position_i_gain);
+  dxl.writeControlTableItem(POSITION_D_GAIN, DXL_ID, position_d_gain);
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  // Read Present Position (Use the Serial Plotter)
+  while(true) {
+    DEBUG_SERIAL.print("Goal_Position:");
+    DEBUG_SERIAL.print(dxl.readControlTableItem(GOAL_POSITION, DXL_ID));
+    DEBUG_SERIAL.print(",");
+    DEBUG_SERIAL.print("Present_Position:");
+    DEBUG_SERIAL.print(dxl.getPresentPosition(DXL_ID));
+    DEBUG_SERIAL.print(",");
+    DEBUG_SERIAL.println();
+    delay(10);
+
+    if (millis() - timer >= 2000) {
+      dxl.setGoalPosition(DXL_ID, goal_position[direction]);
+      timer = millis();
+      break;
+    }
+  }
+
+  if(direction >= 1) {
+    direction = 0;
+  } else {
+    direction = 1;
+  }
+}

library.properties

@@ -1,5 +1,5 @@
 name=Dynamixel2Arduino
-version=0.5.2
+version=0.5.3
 author=ROBOTIS
 license=Apache-2.0
 maintainer=Will Son([email protected])