This is a Viam module for controlling Dynamixel servo motors, like the XL320, XL430, XM430, and XM540 models.
This model provides the Dynamixel servo motor as a Servo component in Viam.
The following attribute template can be used to configure this model:
{ "port": <string>, "id": <int> }The following attributes are available for this model:
| Name | Type | Inclusion | Description |
|---|---|---|---|
port | string | Required | The path to the serial port device for communicating with the servo |
id | int | Required | The ID of the servo, might be 0 out of the box |
baudrate | int | Optional | The baud rate for serial communication. Default is 1000000. |
Multiple servos can share the same port and baud rate to control them when connected in a series.
{ "port": "/dev/tty.usbserial-FT4TFT52", "id": 0 }The following commands are availble in this servo module.
Enable / disable the torque of the servo. It is enabled on start of the module. Disabling will allow it to be moved manually.
{ "command": "set_torque", "enable": <bool> }Check that the servo is responding to controls over the serial interface.
{ "command": "ping" }