Tag: dynamixel

I have put most of my effort in assembling the robot and updating the assembly document while building. The main bot is now completed, except for the head and the grippers. I forgot to order the idle bearings for the MX-28 when I put in the big order back in January, but they should arrive in a couple of weeks. Also been sourcing parts for the head assembly, should arrive before Easter in addition to parts that need to be 3D printed.

Next step for the building part is to finish off wiring all the motors and power supply. For now the servos are running off the 12v10a SMPS power supply and the NUC is using its original power supply, so I need to look into batteries and wiring everything together. My idea is to add an On-Off-On switch between the NUC and the main power so I have the option of powering it either from batteries or the power supply. Alternatively it should be possible to power it from a external power supply while the batteries are charging without the need of powering down.

I’ve started on the Robotis Dynamixel SDK Quick Start Guide. Basically it is 9 videos that explain how to get a Dynamixel servo moving.

In episode 3.3 Software Preparation – Linux there is a criteria that gcc needs to be at least 5.4, me running ubuntu 14.04, I had 4.8 so I had to follow this guide on how to install it for my setup as a simple “sudo apt-get install g++-5” doesn’t work right out of the box on 14.04.

If gcc -v / g++ -v still says 4.8, then you need to update symlinks. Instructions are in the guide mentioned above.

As I am using the USB2AX instead of the Robotis USB2Dynamixel, so after adding some source files from the Xevel usb2ax repo, I was able to compile and run the “read_write.cpp” example from Robotis.

The code can be found here and next step is to get it working with the ps4 controller.