87 lines
3.3 KiB
Plaintext
87 lines
3.3 KiB
Plaintext
********************************** README FILE ***************************************
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Contact: Savage Electronics - Electronics For Everyone
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Autor: Josue Alejandro Savage
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E-mail: savageelectronics@gmail.com
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Web: http://savageelectrtonics.blogspot.com/
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Version: Dynamixel Library 15/01/2012 GPL v2.1
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Dynamixel Serial Version 1.2.0
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Requeriments:
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Arduino IDE Version 1.0
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Wiring IDE 0100
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Installation:
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Copy the files to your IDE libraries folder.
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examples:
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In the Program:
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Copy "DynamixelSerial" folder to Arduino/Contents/Resources/Java/libraries.
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or
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In the SketchBook:
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Copy "DynamixelSerial" folder to Arduino/libraries.
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License:
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Dynamixel Half Duplex USART Comunication
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Copyright (c) 2011 Savage Electronics.
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Created by Savage on 27/01/11.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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ChangeLog:
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25/07/2011 - Eliminado la modificacion serial para ser modificada dentro del mismo Hardware Serial.
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25/07/2011 - Modificado la funcion setBD() para aceptar todas la velocidades sin PDF.
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25/07/2011 - Agregada la funcion de Rotacion Continua.
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26/07/2011 - Agregada la funcion begin sin seteo de Direction_Pin.
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25/07/2011 - Agregada la funcion Reset.
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26/07/2011 - Agregada la funcion Reg_Write en move y moveSpeed.
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26/07/2011 - Agregada la funcion Action.
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13/12/2011 - Arreglado el manejo y envio de variables.
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22/12/2011 - Compatible con la actualizacion Arduino 1.0.
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10/01/2012 - Utilizacion de Macros y eliminacion codigo no necesario.
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11/01/2012 - Agregadas las funciones:
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int setTempLimit(unsigned char ID, unsigned char Temperature);
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int setAngleLimit(unsigned char ID, int CWLimit, int CCWLimit);
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int setVoltageLimit(unsigned char ID, unsigned char DVoltage, unsigned char UVoltage);
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int setMaxTorque(unsigned char ID, int MaxTorque);
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int setSRL(unsigned char ID, unsigned char SRL);
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int setRDT(unsigned char ID, unsigned char RDT);
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int setLEDAlarm(unsigned char ID, unsigned char LEDAlarm);
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int setShutdownAlarm(unsigned char ID, unsigned char SALARM);
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int setCMargin(unsigned char ID, unsigned char CWCMargin, unsigned char CCWCMargin);
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int setCSlope(unsigned char ID, unsigned char CWCSlope, unsigned char CCWCSlope);
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15/01/2012 - Agregadas las funciones:
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int setPunch(unsigned char ID, int Punch);
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int moving(unsigned char ID);
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int lockRegister(unsigned char ID);
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int RWStatus(unsigned char ID);
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int readSpeed(unsigned char ID);
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int readLoad(unsigned char ID);
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TODO:
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FUNCION SYNCWRITE.
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******************************************************************************************
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