STM32 Library for Dynamixel

Note

This project was configured using STM32CubeIDE with the STM32F411CEU6 as the target MCU.

Table of Contents

• Table of Contents
• 🙏 Credits
• 📖 About
• 📦 Structure
• 🚀 How to Use
• 🔧 Build
  • 🎯 Change Target
• 📜 License

🙏 Credits

• Gratitude to FluffLescure for contributions including:
  • Enhancing the code
  • Resolving issues in reading functions

📖 About

This project is a straightforward STM32 implementation featuring a library designed to control and interact with the AX-12A Dynamixel.

The dynamixel module includes implementations for both Protocol V1.0 and V2.0, making it compatible with all Dynamixel series. Users should adjust the function calls according to the specific protocol version they are using.

Important

It's crucial to note that all high-level read and write functions are configured to use Protocol V1.0 by default. This is implemented through the functions dynamixel_read_v1 and dynamixel_write_v1.

Should your project require the use of Protocol V2.0, you can utilize the corresponding functions designed specifically for that protocol.

📦 Structure

Directories:

• Src: Source files (.c)
• Inc: Header files (.h)

Files:

• dynamixel.c: Module for AX-12 interaction
• main.c: Main file showcasing usage examples

🚀 How to Use

Refer to the main.c file and the main function to learn how to utilize the dynamixel specific functions.

For a comprehensive understanding of the functions available, including detailed descriptions of their purposes and the specific arguments they require, you can consult the official documentation.

It is highly recommended to review this documentation to ensure proper usage and integration of the functions within your projects.

🔧 Build

Warning

STM32CubeIDE builds the project exclusively for the specified target (MCU).

To build this project, first install STM32CubeIDE on your system. Then, clone this repository:

git clone https://github.com/leoraclet/dynamixel-stm32

Open or import the project into STM32CubeIDE.

🎯 Change Target

If you wish to build for a different target, create a new project for the desired target and copy the source files from this project, along with the corresponding headers, into your new project.

To accomplish this, you can refer to the official STM32 Wiki. This comprehensive guide provides step-by-step instructions and valuable insights to help you get started with STM32CubeIDE from scratch.

📜 License

This project is licensed under the MIT License - see the LICENSE file for details.