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Dynamixel library

A cross-platform library for controlling Dynamixel Servo motors (http://support.robotis.com/beta/en/product/dxl_main.htm) from an embedded microcontroller.

Supported platforms

Currently supported are

  • ARM mbed
  • Raspberry Pi
  • Arduino

Supported servo models

The library implements both Communication1.0 and Communication2.0 Dynamixel protocols, so ideally (possibly with some extra tuning), it should work for any Dynamixel servo which uses these protocols.

Servos which have been tested and confirmed to work:

  • AX-12
  • XL-320

Platform selection

You should select the platform you are using when compiling the library with your code

mbed

Define the macro DNX_PLATFORM_MBED at compile time

Raspberry Pi

Define the macro DNX_PLATFORM_RPI at compile time

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