Differences

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--- lego_dynamixel_control_xl320 [2019/05/16 22:01] – [Running and Analysis] ntorresreyes
+++ lego_dynamixel_control_xl320 [2019/06/06 23:03] (current) – [NXC Code] ntorresreyes
@@ Line 143: / Line 143: @@
 **RS485 to TTL**
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-The XL-320 uses TTL logic levels (0 to 5v) for communication. Since the NXT uses RS485 communication, an RS485-to-TTL converter must be used. This can be done using a MAX485 chip, as seen in **this** tutorial or with an off the shelf converter such as [[https://www.amazon.com/DROK-Adapter-Module-Converter-Indicator/dp/B075V2NMV8/ref=sr_1_3?keywords=rs485+to+ttl&qid=1558067804&s=gateway&sr=8-3|this one]].
+The XL-320 uses TTL logic levels (0 to 5v) for communication. Since the NXT uses RS485 communication, an RS485-to-TTL converter must be used. This can be done using a [[https://www.google.com/url?sa=t&rct=j&q=&esrc=s&source=web&cd=7&ved=2ahUKEwip-ILdzdbiAhWQup4KHYefCGwQFjAGegQIBhAC&url=https%3A%2F%2Fdatasheets.maximintegrated.com%2Fen%2Fds%2FMAX1487-MAX491.pdf&usg=AOvVaw3BFaoKg2WHoZayW5LHwFD5|MAX485 chip]], as seen below or with an off the shelf converter such as [[https://www.amazon.com/DROK-Adapter-Module-Converter-Indicator/dp/B075V2NMV8/ref=sr_1_3?keywords=rs485+to+ttl&qid=1558067804&s=gateway&sr=8-3|this one]].
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+{{:torres:image6.jpg?300|}}
+\\
+\\
+The MAX485 chip offers some simplicity over using an off the shelf converter although many higher level features are not included. Nevertheless, it is definitely enough for this tutorial at a fraction of the cost and zero extra added components. The pin layout is as follows:
+\\
+   *1 - TTL Output
+   *2 - LOW (GND)
+   *3 - LOW (GND)
+   *4 - Not Connected
+   *5 - GND
+   *6 - SDA (From NXT)
+   *7 - SCL (From NXT)
+   *8 - 5 volts
 **Writing Dynamixel ID's**
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@@ Line 216: / Line 229: @@
 The NXC code files as well as the header file is included below in a .zip file:
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-{{:torres:tutorials:nxt_dynamixel:xl320_code.zip|}}
+{{:torres:xl320_codev2.zip|}}
 \\
 **Controlling Multiple Dynamixels**
@@ Line 226: / Line 239: @@
 </code>
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-Next, each Dynamixel should be initialized with the "SetMode()" function.
-<code>
-SetMode(ID1, SERVO, minAngle1, maxAngle1);
-SetMode(ID2, SERVO, minAngle2, maxAngle2);
-</code>
 \\
 Finally, when using the "Servo()" function, make sure the correct ID for the correct Dynamixel is used.
@@ Line 266: / Line 274: @@
   Wait(10);
  }
- SetMode(ID1,SERVO,0,1023);        //servo mode with angle limits of
- SetMode(ID2,SERVO,0,1023);        //0 to 300(1023).
  while(true){