Arduino y Dynamixel AX-12


Después de un largo tiempo he aquí una Biblioteca para controlar los actuadores Ax-12A de Dynamixel.
Estos Servos son bastante increíbles, parece que no les podría faltar nada, ya que pueden devolver Temperatura interna, Voltaje, Posición y Velocidad; Esto lo logra ya que tiene un microcontrolador ATmega8 el cual se comunica atravez de Half Duplex UART-TTL.

Estas bibliotecas sirven para comunicarse con los servomotores Dynamixel de varias formas en diferentes pines de las placas Arduino.

La comunicación se realiza a través del puerto Serie (UART o USART) del Arduino por lo que estos puertos utilizados se volverán exclusivos para comunicarse con el servomotor Dynamixel.

La alimentación de estos Servos es con una fuente de 9.6v y uniendo la tierra del arduino con la tierra de la fuente del Servo para que la comunicación no tenga errores de interpretación y la biblioteca pueda funcionar correctamente.La alimentación del Servo y del Arduino también puede ser de la misma fuente por lo que Vin del Arduino tendrá que tener un voltaje de 9.6v (Este es el voltaje sugerido por Robotis).


Las conexiones de alimentación del Servo con otras versiones y modelos de arduino funcionan de la misma forma.

Para utilizar estas bibliotecas se necesita un buffer tri-estado, se puede hacer con dos circuitos integrados 74HC04 y 74HC126 tal como recomienda Bioloid y utiliza en sus controladores o pueden usar un solo circuito integrado 74LS241 que yo recomiendo ya que es más sencillo de utilizar y/o conectar. Los pines de comunicación cambiaran según sea la Biblioteca que se quiera utilizar.



Circuito Savage Electronics - Dynamixel Serial:

Circuito Savage Electronics - Dynamixel Serial1:


Circuito Savage Electronics - Dynamixel Serial2:


Circuito Savage Electronics - Dynamixel Serial3:


Circuito Savage Electronics - Dynamixel SoftSerial:



Descarga aquí la biblioteca que más se te acomode junto con documentación y ejemplos.

Video Demostrativo:


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