A2数字舵机工作原理

AX-12资料把握原理程序：时间仓促。弄的不是很整齐，有什么问题，请直接联系我！~~概述：DynamixelAX12+伺服电机专用把握0～300°；当用作轮子驱动时，可以选2倍。AX-12+规格参数：1.重量：55g2.齿轮减速比：1/254.扭矩：m〔；·〔V〕4.速度：0.269秒/60度(7V)；0.196秒/60度(10V)5.最小区分率：0.35°.最大运行角度：〔有位置把握；连续旋转〔无位置把握〕7.电压：7V~10V〔推举供电：9.6V〕8.最大电流：900mA9.工作温度：-5~+85℃把握信号：数字信号通讯协议：半双工异步串行通信〔、无奇偶效验13.Link方式:TTL－Daisy总线通讯速率：7343bps~1Mbps反响：位置、温度、负载、电压材质：工业塑料LED指示灯或停顿输出扭矩。二．工作原理：硬件电路：TTL电平的半双工异步串行通道。推举就是舵机生产商的名字)CM-5.AX-12。所以我们需要知道它的内部协议。软件：从DATASHEET中得知：AX-12的指令总表如下翻译下：指令功能代码参数个数PING猎取舵机状态数据包0x010READDATARAM的信息0x022WRITEDATARAM的一个字节0x032~REGWRITEACTION激活下同上0x042~ACTION触发命令0x050RESET复位0x060SYNCWRITE把握舵机舵机同时转动0x834~在这里，RESET和SYNCWRITE2个指令！2个指令：复位〔RESET〕FunctionChangesthecontroltablevaluesoftheDynamixelactuatortotheFactoryDefaultValuesettingsLength0X02Instruction0X06ParameterNONEExample4ResettingtheDynamixelactuatorwithanIDof0InstructionPacket:0XFF0XFF0X000X020X060XF7`函数功能：将全部舵机RAM,ROM的内容恢复到出厂状态长度： 0x02指令值：0x06参数： 无处理器发送指令：0XFF0XFF0X000X020X060XF70XFF 0XFF 为起始标志0x00ID号0x02为指令长度0x06为指令代码0xF7为校验码( Check_Sum=~(ID+2+6))把握舵机移动FunctionUsedforcontrollingmanyDynamixelactuatorsat thesametime.ThecommunicationtimedecreasesbytheSynchWriteinstructionsincemanyinstructionscanbetransmittedbyasingleinstruction.However,youcanusethisinstructiononlywhenthelengthsandaddressesofthecontroltabletobewrittentoarethesame.Also,thebroadcastingIDneedstobeusedfortransmitting.ID0XFELength(L+1)*N +4(L:DatalengthforeachDynamixelactuator, N:ThenumberofDynamixelactuators)Instruction0X83Parameter1StartingaddressofthelocationwherethedataistobewrittenParameter2Thelengthofthedatatobewritten(L)Parameter3TheIDofthe1stDynamixelactuatorParameter4The1stdataforthe1stDynamixelactuatorParameter5The2nddataforthe1stDynamixelactuator…ParameterL+3TheLthdataforthe1stDynamixelactuatorParameterL+Dataforthe1stDynamixelactuatorParameterL+4TheIDofthe2ndDynamixelactuatorParameterL+5The1stdataforthe2ndDynamixelactuatorParameterL+6The2nddataforthe2ndDynamixelactuator…Parameter2L+4TheLthdataforthe2ndDynamixelactuator….Example5Settingthefollowingpositionsandvelocitiesfor4DynamixelactuatorsDynamixelactuatorwithanIDof0:toposition0X010withaspeedof0X150DynamixelactuatorwithanIDof1:toposition0X220withaspeedof0X360Dataforthe2ndDynamixelactuator函数功能AX-12舵机同时移动，固然，这条指令也可以把握一个舵机移动。我们用就是用这条指令来使舵机动作！长度： (L+1)*N+4(L:每个舵机的把握信息长度,N:把握舵机数)指令值：0xFE下面我们用这条指令编写一个把握一个舵机的子程序：voidMove_One(unsignedintPostion,unsignedintSpeed,unsignedcharID){unsignedintCheck_Sum;if(Postion>=0x3ff)Postion=0x3ff; //位置值不能超过0x3ffif(Speed>=0x3ff) Speed=0x3ff; //位置值不能超过0x3ff//Check_Sum=~(0xfe+0x09+0x83+0x1e+0x04+ID+Postion%256+Postion/256+Speed%256+Speed/256); //校验码计算Check_Sum=~(0xac+ID+Postion%256+Postion/256+Speed%256+Speed/256);if(Check_Sum>0xff)Check_Sum=Check_Sum%256;uart_t(0xff);uart_t(0xff); //发送起始码uart_t(0xfe); //指令代码uart_t(0x09); //移动一个舵机的参数长度uart_t(0x83); //指令:SYNC_WRITEuart_t(0x1e); uart_t(0x04); //把握信息的长度:两个字节速度，两个字节位置uart_t(ID); uart_t(Postion%256); //目标位置低字节uart_t(Postion/