Dynamino is a work-in-progress C++ library which provides simple, direct control of Dynamixel TTL smart servos from 5V ATmega Arduinos. See here for more information on supported servos and operating modes.
- Dynamino will allow you to enumerate any attached servos, ping them, read data such as their position and temperature, and send them command instructions.
- It's designed to operate at high speed: 1,000,000 baud, which is the default rate for these servos.
- It works with no additional hardware: just the servos, their power supply, and your Arduino. Connect the data line to a digital pin and you're good to go.
- It won't and can't work with the RS-485 servos. Sorry.
- By itself, this won't turn your Arduino into a drop-in replacement for a device like the USB2Dynamixel or USB2AX.
- It's exclusively an AVR Arduino library. It won't run on your PC, your Raspberry Pi, or really anywhere else. Dynamino relies on low-level assembly code written specifically for ATmega processors, and so also won't run on devices like the Arduino Zero.
Clone or otherwise download the repo. The core library files are created with a Python-based code-generation process: execute it with python -m pygen in the root directory. This (re)generates files in the 'Dynamino' subdirectory.
On Windows, the code-generator will attempt to copy the generated library files to the standard Arduino library directory ('%USER%\Documents\Arduino\libraries'). If this doesn't work or if you're on a different platform, simply run the code-generation as above then copy the 'Dynamino' directory to your Arduino libraries directory.
Once installed, you should be able to #include <Dynamino.h> and use the library. There's a couple of examples included in the library to get you started.
Dynamino is MIT-licensed, which means you can use it for free (including for commercial purposes) with attribution. It also means that the library comes with absolutely no warranty: you use this software at your own risk. Remember, those servos are expensive, so please do be careful!
See LICENSE.txt for the full terms.