Dynamixel

This packages provides a Go interface to Dynamixel servos. It's tested against [AX-12] ax and [XL-320] xl servos (because I am a cheapskate), but should work with other models.

Example

package main

import (
  "log"
  "github.com/jacobsa/go-serial/serial"
  "github.com/adammck/dynamixel/network"
  "github.com/adammck/dynamixel/servo/ax"
)

func main() {
  options := serial.OpenOptions{
    PortName: "/dev/tty.usbserial-A9ITPZVR",
    BaudRate: 1000000,
    DataBits: 8,
    StopBits: 1,
    MinimumReadSize: 0,
    InterCharacterTimeout: 100,
  }

  serial, err := serial.Open(options)
  if err != nil {
    log.Fatalf("error opening serial port: %v\n", err)
  }

  network := network.New(serial)
  servo, err := ax.New(network, 1)
  if err != nil {
    log.Fatalf("error initializing servo: %v\n", err)
  }

  err = servo.Ping()
  if err != nil {
    log.Fatalf("error pinging servo: %v\n", err)
  }

  err = servo.SetGoalPosition(512)
  if err != nil {
    log.Fatalf("error setting goal position: %v\n", err)
  }
}

More examples can be found in the examples examples directory of this repo.

Documentation

The docs can be found at [godoc.org] docs, as usual.
The API is based on the Dynamixel [v1 protocol] proto docs.

License

[MIT] license, obv.

Author

[Adam Mckaig] adammck made this just for you.