https://github.com/ziteh/robotis-dynamixel-motor-driver

ROBOTIS DYNAMIXEL actuator library for STM32 (Protocol 2.0)
https://github.com/ziteh/robotis-dynamixel-motor-driver

dynamixel libopencm3 library max485 platformio stm32

Last synced: about 1 month ago
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ROBOTIS DYNAMIXEL actuator library for STM32 (Protocol 2.0)

• Host: GitHub
• URL: https://github.com/ziteh/robotis-dynamixel-motor-driver
• Owner: ziteh
• License: mit
• Created: 2022-08-17T13:17:31.000Z (almost 4 years ago)
• Default Branch: main
• Last Pushed: 2022-08-20T10:42:56.000Z (almost 4 years ago)
• Last Synced: 2026-03-29T16:54:20.236Z (2 months ago)
• Topics: dynamixel, libopencm3, library, max485, platformio, stm32
• Language: C
• Homepage:
• Size: 12.7 KB
• Stars: 2
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          
# ROBOTIS DYNAMIXEL Motor Driver

A library for ROBOTIS DYNAMIXEL actuator.

Using MAX485(RS-485 module), based on [DYNAMIXEL Protocol 2.0](https://emanual.robotis.com/docs/en/dxl/protocol2/) and [LibOpenCM3](https://libopencm3.org/).

> Only tesed on [H42-20-S300-R](https://emanual.robotis.com/docs/en/dxl/pro/h42-20-s300-r/) and [H54-200-S500-R](https://emanual.robotis.com/docs/en/dxl/pro/h54-200-s500-r/), using STM32 NUCLEO-F446RE.

## Usage

[STM32 LibOpenCM3 Example](./examples/stm32_libopencm3/)

### Pin map

| NUCLEO-F446RE Board  | MAX485    |

| -------------------- | --------- |

| D3 (PB3)             | DE and RE |

| D2 (PA10, USART1_RX) | RO        |

| D8 (PA9, USART1_TX)  | DI        |

| DYNAMIXEL Connector | MAX485 |

| ------------------- | ------ |

| 1, GND              | --     |

| 2, VDD              | --     |

| 3, DATA+            | A      |

| 4, DATA-            | B      |

> Ref: [Communication Circuit](https://emanual.robotis.com/docs/en/dxl/pro/h42-20-s300-r/#communication-circuit)