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HerkuleX

Table of Contents

  1. Hello World!
  2. Library

This herkulex library is based on DongBu Robot documentation and protocol.

http://dasarobot.com/guide/herkulexeng.pdf

/media/uploads/passionvirus/_scaled_mbedandherkulex.png

Hello World!

Import program
HerkuleX-HelloWorld - main.cpp

00001 #include "mbed.h"
00002 #include "herkulex.h"
00003 
00004 Herkulex sv(p9, p10, 115200);
00005 DigitalOut led(LED1);
00006 
00007 int main() 
00008 {   
00009     wait(1);
00010     sv.setTorque(0xFD, TORQUE_ON);
00011     while(1) 
00012     {
00013         led=1;
00014         sv.movePos(0xFD, 1002, 100, SET_MODE_POS, SET_LED_GREEN_ON);
00015         wait(3);
00016         
00017         led=0;       
00018         sv.movePos(0xFD, 21, 100, SET_MODE_POS, SET_LED_BLUE_ON);
00019         wait(3);
00020     }
00021 }

/media/uploads/passionvirus/_scaled_mbedandherkulex.png

Library

Import library
herkulex - Herkulex Class Reference

Public Member Functions

Herkulex (PinName tx, PinName rx, uint32_t baudRate)
Create an Herkulex servo object connected to the serial pins and baudrate.
~Herkulex ()
Destroy an Herkulex servo object.
void txPacket (uint8_t packetSize, uint8_t *data)
Transmit packet datas.
void setTorque (uint8_t id, uint8_t cmdTorue)
Set Torque setting.
void movePos (uint8_t id, uint16_t pos, uint8_t playtime, uint8_t setMode, uint8_t setLED)
move position
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