MRD Lab / MX12

Robotis Dynamixel MX-12W Servo Library

Dependents:   SpindleBot_1_5b Utilisatio_MX12_V4

/media/uploads/labmrd/mx12.jpg

This is my attempt to adapt Chris Styles's AX12 library to work with my Dynamixel MX12 servos. This library is still very much a work in progress, and it may have some/many errors in it, but hopefully I will keep improving it to bring it up to snuff.

Dynamixel aficionados should also check out This MX28 library for a completely separate library that provides very similar functionality, and I wish I had known it existed before I started my work...

minimal example

#include "mbed.h"
#include "MX12.h"

int main() {

  MX12 mymx12 (p9, p10, 1);           // ID=1

  while (1) {
      mymx12.Set_Goal_Position(0);    // go to 0 degrees
      wait (2.0);
      mymx12.Set_Goal_Position(300);  // go to 300 degrees
      wait (2.0);
  }
}

Diff: MX12.h

Revision:
2:c5236a433f1b
Parent:
1:946a27210553
Child:
3:624d04c390b8
--- a/MX12.h	Mon Jan 26 04:02:37 2015 +0000
+++ b/MX12.h	Mon Jan 26 04:24:10 2015 +0000
@@ -87,7 +87,7 @@
     #define M_PI_2  1.57079632679489661923  /* pi/2 */
 #endif
 
-/** Servo control class, based on a PwmOut
+/** Dynamixel servo control class
  *
  * Example:
  * @code