Native Dynamixel Library for Matlab

Hi everyone,

In order to use the powerful of Matlab Toolboxes  and Simulink . I'm going to build a native library to control the Dynamixel Motors from Matlab directly.

Dynamixel Motor

My Source Code: https://github.com/quangthanh010290/MatlabDynamixel

I. Using Dynamixel SDK

    - Step 1: Create Class

           o  = MyDynamixel();

    - Step 2: Initialize the serial port

           o.portNum = 16;

           o.baudNum = 1;

           o.init()

    - Step 3: Add dynamixel motor base on their IDs

           o.addDevice(5);

           o.addDevice(16);

    - Step 4: Set Speed for dynamixel (optimal, can use default setup)

           o.setSpeed('id',5,'RPM',10);

           o.setSpeed('id',16,'RPM',10);

   - Step 5: Turn the Dynamixels

          o.writeAngle('id',5,'deg',0);

          o.writeAngle('id',16,'deg',0);

   - Step 6: Unload resource

          o.Exit();

   - Result:

         

II.Build Native Library base on protocol specification