README.md

Dynamixel MX64 MATLAB library

A wrapper class to interface with Robotis's USB2Dynamixel and control MX64 series servos using communication version 1.0.

Requirements

Usage of this library requires Robotis's USB2Dynamixel SDK, available at http://support.robotis.com/en/software/dynamixel_sdk/usb2dynamixel.htm

Usage

The bin and import directories from Robotis's SDK must be in your path before initializing the library. This can be done through the MATLAB GUI, or the command

addpath('.\dxl_sdk_win32_v1_02\bin', '.\dxl_sdk_win32_v1_02\import');

The library is then initialized by providing the port to connect through, and the baudrate the servos are configured for. The example below initializes an object named Dynamixel to use COM port 31 at 1Mb (1000000 bps).

Dynamixel = MX64(31,1000000);

Commands can then be called through dot object syntax.

Dynamixel.position(ID,angle);
Dynamixel.setPID(ID,Kp,Ki,Kd);
Dynamixel.setAngleLimit(ID,lowerLimit,upperLimit);

Changelog

• April 2015 - Initial library release.

More Information

• Robotis e-Manual
  http://support.robotis.com
• MX Series Control Table
  http://support.robotis.com/en/product/dynamixel/mx_series/mx-64.htm
• API Reference
  http://support.robotis.com/en/software/dynamixel_sdk/api_reference.htm
• Example MATLAB code http://support.robotis.com/en/software/dynamixel_sdk/usb2dynamixel/window_communication_1/matlab.htm

License

Released under the MIT license, see LICENSE.txt