DYNAMIXEL
AX-12
When changing the direction, the TXD_SHIFT_REGISTER_EMPTY_BIT must be
checked.
The following is an example program that sends an Instruction Packet.
LINE 1
DIRECTION_PORT = TX_DIRECTION;
LINE 2
TxDByte(0xff);
LINE 3
TxDByte(0xff);
LINE 4
TxDByte(bID);
LINE 5
TxDByte(bLength);
LINE 6
TxDByte(bInstruction);
LINE 7
TxDByte(Parameter0); TxDByte(Parameter1); …
LINE 8
DisableInterrupt(); // interrupt should be disable
LINE 9
TxDByte(Checksum); //last TxD
LINE 10
while(!TXD_SHIFT_REGISTER_EMPTY_BIT); //Wait till last data bit has been sent
LINE 11
DIRECTION_PORT = RX_DIRECTION; //Direction change to RXD
LINE 12
EnableInterrupt(); // enable interrupt again
Please note the important lines between LINE 8 and LINE 12. Line 8 is necessary since
an interrupt here may cause a delay longer than the return delay time and corruption to
the front of the status packet may occur.
Byte to Byte Time
The delay time between bytes when sending an instruction packet. If the delay time is
over 100ms, then the Dynamixel actuator recognizes this as a communication problem
and waits for the next header (0xff 0xff) of a packet again.
0xFF
0xFF
ID
Length
Byte To Byte Time
The following is the source code of a program (Example.c) that accesses the Dynamixel
actuator using the Atmega 128.
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