Using OpenCM9.04 + Exp 485 boards to communicate directly with ROS about opencm9.04 HOT 4 CLOSED

Hi, @Iervolino458

OpenCM does not provide a bypass example separately.

There is a problem with your code. Because DYNAMIXEL is half-duplex, TX and RX must be determined with the DIR pin. Your code does not have this capability, so it seems that communication is not possible.

I think it would be helpful to refer to the usb_to_dxl example in OpenCR.

This is just a reference code and does not guarantee behavior.

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@OpusK

I fixed the issue myself using DynamixelSDK to communicate data between Serial and Serial3.

I'm having another problem, however, regarding the motors velocity. I'm using XM540-W270 motors and I can't seem to slow velocity down even when setting velocity and acceleration parameters (control table). The motor is in position mode by the way.

How can I limit the motors velocity keeping the position operation mode?

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@Iervolino458

You said you are using the workbench ROS package, are you using the SDK package now?
Anyway, it would be nice to raise the issue for each reporter issue.

• Workbench
• SDK

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@OpusK

I'm using DynamixelWorkbench package to interface the motors with ROS. I've used SDK just as the usb port handler to develop the usb tosser.

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