Differences

This shows you the differences between two versions of the page.

--- lego_2link_dynamixel [2019/04/26 20:17] – ntorresreyes
+++ lego_2link_dynamixel [2019/04/26 20:30] (current) – [Build Plans] ntorresreyes
@@ Line 90: / Line 90: @@
 The build plans as well as the parts list are included below.
 \\
-**IN PROGRESS**
+{{:torres:tutorials:plotter_build_plans.pdf|Build Plans}}
+\\
+You will also need to download {{:torres:tutorials:nxt_dynamixel:rx28_lego_stl_files.zip|these}} files, which will have to be 3D printed so that the Dynamixel can be adapted to control LEGOs
@@ Line 176: / Line 178: @@
 ====Running, Testing and Analysis====
 To run the code, open it using "Bricx Command Center" and set the zero offset values to 512. Compile the code and upload it to the NXT. Run the program before you install the servos to the 2-link arm. The servos will go to their zero offset position, which has not yet been dialed in. Install the servos on the arm (make sure each servo goes to the correct joint) and try to align as close to the zero-angle position as possible. Once installed, adjust the zero offset values until the zero-angle position is achieved.
+\\
 \\
 **Video Preview**
@@ Line 181: / Line 184: @@
 A preview of arm running can be seen in the video below, the arm is cycling from its zero-angle position to a set position.
 \\
-[[https://www.youtube.com/watch?v=DTozE1d0zDQ]]
+{{youtube>DTozE1d0zDQ?medium}}
 ====Conclusions====
 In conclusion, this tutorial should help the user get a start on controlling a 2-link manipulator using Dynamixel servos and LEGOs. The theory and practice from this tutorial con be expanded to non-LEGO parts or to different LEGO manipulator designs.