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Interfacing with the Dongbu HerkuleX servo motor

[1 Reply]
- 14-May-2013 07:24 AM
- Forum: Integration and Hardware
I'm trying to control a DRS-0101 servo. It connects through a little serial breakout board to a pc, and required a specific type of byte-protocol for it's communication. There's already an arduino library for it, but since I'm planning a setup with a lot of servo's I would prefer direct control via the pc. Anyone who has tried this before?

I have a processing sketch in which I tried to rewrite the Arduino library, but I got stuck at the communication protocol structure. It shouldn't be impossible, as someone points out here: http://botscene.net/2012/10/20/getting-started-with-the-herkulex-drs-0101/. Here is a link to the manual that describes the protocol: http://hovis.co.kr/guide/herkulexeng.pdf

And here is an excerpt from the library that shows how they package a command to send it to the servo over serial.
2. void CHerkuleX::torqueOn(uint8_t id)
3. {
4. send_buf[0] = 0xFF; // Packet Header
5. send_buf[1] = 0xFF;
6. send_buf[2] = 0x0A; // Packet Size
7. send_buf[3] = id; // Servo ID
8. send_buf[4] = DR_SERVO_CMD_RAM_WRITE; // Command Ram Write
9. send_buf[7] = 0x34; // Address 52
10. send_buf[8] = 0x01; // Length
11. send_buf[9] = 0x60; // Torque ON
12. send_buf[5] = (send_buf[2]^send_buf[3]^send_buf[4]^send_buf[7]^send_buf[8]^send_buf[9]) & 0xFE;
13. send_buf[6] = (~send_buf[5])&0xFE;
15. send(send_buf, 10);
16. }
Send function
2. void CHerkuleX::send(byte* buf, uint8_t size)
3. {
4. Serial3.write(buf, size);
5. }
So my is how to rewrite this structure in processing. Here's the arduino library: http://robottini.altervista.org/dongbu-herkulex-arduino-library-2?doing_wp_cron=1368060408.9865930080413818359375
Anyone who can give me some advice? I can also post my earlier attempt if needed.

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