{"id":18981949,"url":"https://github.com/multipedrobotics/mv","last_synced_at":"2025-11-11T14:02:51.755Z","repository":{"id":144123252,"uuid":"204565704","full_name":"MultipedRobotics/mv","owner":"MultipedRobotics","description":null,"archived":false,"fork":false,"pushed_at":"2025-02-14T21:15:36.000Z","size":169,"stargazers_count":0,"open_issues_count":2,"forks_count":0,"subscribers_count":2,"default_branch":"master","last_synced_at":"2025-02-14T22:21:39.935Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/MultipedRobotics.png","metadata":{"files":{"readme":"readme.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2019-08-26T21:34:59.000Z","updated_at":"2025-02-14T21:15:40.000Z","dependencies_parsed_at":null,"dependency_job_id":"e4542bc5-3e46-4c52-8e77-0a7fb2476060","html_url":"https://github.com/MultipedRobotics/mv","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/MultipedRobotics/mv","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/MultipedRobotics%2Fmv","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/MultipedRobotics%2Fmv/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/MultipedRobotics%2Fmv/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/MultipedRobotics%2Fmv/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/MultipedRobotics","download_url":"https://codeload.github.com/MultipedRobotics/mv/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/MultipedRobotics%2Fmv/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":283862594,"owners_count":26907409,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","status":"online","status_checked_at":"2025-11-11T02:00:06.610Z","response_time":65,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-08T16:11:52.961Z","updated_at":"2025-11-11T14:02:51.705Z","avatar_url":"https://github.com/MultipedRobotics.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# mv\n\n![Cpp](https://github.com/MultipedRobotics/mv/workflows/Cpp/badge.svg)\n\n**Under Heavey Development, only minimal AX12 working**\n\nYet another Dynamexl library for smart servos. This is call `mv` after the\nunix move command.\n\n## Command line\n\n```bash\n$ mkdir build\n$ cd build\n$ cmake -DBUILDFOR=pico .. \u0026\u0026 make\n```\n\n## Cool\n\n- [termcolor](https://github.com/ikalnytskyi/termcolor)\n\n## Arduino Example\n\n```cpp\n#include \u003cmv.h\u003e\n#include \u003cvector\u003e\n\nAX12 servo;\nstd::vector\u003cuint16_t\u003e angles {0,200,400,600,800,1000};\nSerialPort sp;\nuint16_t angle;\nconstexpr int dd_pin = 2;\n\nvoid setup() {\n  Serial.begin(1000000);\n  Serial1.begin(1000000);\n  Serial1.setTimeout(10);\n\n  sp.begin(\u0026Serial1, dd_pin);\n\n  randomSeed(analogRead(0));\n  angle = random(0,1023);\n}\n\nvoid get_response() {\n  ReadStatus_t rs = sp.read();\n  if (rs.ok) {\n    for (Packet_t const \u0026p: rs.pkts) {\n      for (uint8_t const \u0026b: p) {\n        Serial.print((int) b);\n        Serial.print(\",\");\n      }\n      Serial.println(\" \");\n    }\n  }\n}\n\nvoid loop() {\n\n    for (const auto\u0026 v: angles){\n        std::vector\u003cServoMoveSpeed_t\u003e ss {\n            {1, v, 0},\n            {2, v, 0},\n            {3, v, 0}\n        };\n        Packet_t mv = servo.makeMovePacket(ss);\n\n        sp.write(mv);\n        get_response();\n\n        delay(1000);\n    }\n\n    Packet_t ping = servo.makePingPacket();\n    sp.write(ping);\n    delay(100);\n    get_response();\n\n    delay(500);\n}\n```\n\n## References\n\n- [AX-12 e-manual](https://emanual.robotis.com/docs/en/dxl/ax/ax-12a/)\n- [Protocol 1 e-manual](https://emanual.robotis.com/docs/en/dxl/protocol1/)\n\n## Todo\n\n- [x] support Protocol 1\n- [ ] support Protocol 2\n- [ ] support XL430 maybe\n- [ ] support XL320 probably not\n\n# MIT License\n\n**Copyright (c) 2019 Kevin J. Walchko**\n\nPermission is hereby granted, free of charge, to any person obtaining a copy\nof this software and associated documentation files (the \"Software\"), to deal\nin the Software without restriction, including without limitation the rights\nto use, copy, modify, merge, publish, distribute, sublicense, and/or sell\ncopies of the Software, and to permit persons to whom the Software is\nfurnished to do so, subject to the following conditions:\n\nThe above copyright notice and this permission notice shall be included in all\ncopies or substantial portions of the Software.\n\nTHE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\nIMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\nFITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\nAUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\nLIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\nOUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE\nSOFTWARE.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmultipedrobotics%2Fmv","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fmultipedrobotics%2Fmv","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmultipedrobotics%2Fmv/lists"}