仿生蛇形机器人03、Dynamixel MX-64AR舵机串联两个修改Demo（例程）进行调节

一、电路连接

参考我第一篇文章里面的电路连接

仿生蛇形机器人01、Dynamixel MX-64AR舵机控制例程的使用【Python 1.0协议】

在原有基础上串联一个舵机

（注意：我这里是串联两个舵机，利用4pin接口线随意连接一个母线端子即可，如果串联多个舵机，要注意连接的方式，得统一方便控制。）

二、实际操作

1.1、舵机串联的ID修改方式

按理来说，如下图，在Tools中应该会有一个ID Inspection的选项，可能是我的版本太低了，每次跳出来有个升级选项，我没管，这里我更新一下。

跳出的更新窗口

点击----重新启动----安装完成

这时候我们看见了ID Inspection的选项----点击ID Inspection----选择正确的com口和波特率----点击scan**（注意：这里我发现一个问题，原来这个功能并不是所有版本都支持的，看下图）**

翻译得

那么，很遗憾，像我们不符合条件的舵机，就真的只能一个一个改了，然后再串联一起。单个修改可以参考我的第一篇文章，里面有关于ID的单个修改。

仿生蛇形机器人01、Dynamixel MX-64AR舵机控制例程的使用【Python 1.0协议】

1.2、例程代码修改

说明：由于我们一般操作的例程就是read_write.py（我是用的是这个python 1.0版本），我们只要在原有的基础上进行ID定义就行了，看下面的两个代码。

修改前代码：read_write.py

#!/usr/bin/env python
# -*- coding: utf-8 -*-################################################################################
# Copyright 2017 ROBOTIS CO., LTD.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
################################################################################# Author: Ryu Woon Jung (Leon)#
# *********     Read and Write Example      *********
#
#
# Available DXL model on this example : All models using Protocol 1.0
# This example is tested with a DXL MX-28, and an USB2DYNAMIXEL
# Be sure that DXL MX properties are already set as %% ID : 1 / Baudnum : 34 (Baudrate : 57600)
#import osif os.name == 'nt':import msvcrtdef getch():return msvcrt.getch().decode()
else:import sys, tty, termiosfd = sys.stdin.fileno()old_settings = termios.tcgetattr(fd)def getch():try:tty.setraw(sys.stdin.fileno())ch = sys.stdin.read(1)finally:termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)return chfrom dynamixel_sdk import *                    # Uses Dynamixel SDK library# Control table address
ADDR_MX_TORQUE_ENABLE      = 24               # Control table address is different in Dynamixel model
ADDR_MX_GOAL_POSITION      = 30
ADDR_MX_PRESENT_POSITION   = 36# Protocol version
PROTOCOL_VERSION            = 1.0               # See which protocol version is used in the Dynamixel# Default setting
DXL_ID                      = 1                 # Dynamixel ID : 1
BAUDRATE                    = 57600             # Dynamixel default baudrate : 57600
DEVICENAME                  = 'COM13'    # Check which port is being used on your controller# ex) Windows: "COM1"   Linux: "/dev/ttyUSB0" Mac: "/dev/tty.usbserial-*"TORQUE_ENABLE               = 1                 # Value for enabling the torque
TORQUE_DISABLE              = 0                 # Value for disabling the torque
DXL_MINIMUM_POSITION_VALUE  = 10           # Dynamixel will rotate between this value
DXL_MAXIMUM_POSITION_VALUE  = 4000            # and this value (note that the Dynamixel would not move when the position value is out of movable range. Check e-manual about the range of the Dynamixel you use.)
DXL_MOVING_STATUS_THRESHOLD = 20                # Dynamixel moving status thresholdindex = 0
dxl_goal_position = [DXL_MINIMUM_POSITION_VALUE, DXL_MAXIMUM_POSITION_VALUE]         # Goal position# Initialize PortHandler instance
# Set the port path
# Get methods and members of PortHandlerLinux or PortHandlerWindows
portHandler = PortHandler(DEVICENAME)# Initialize PacketHandler instance
# Set the protocol version
# Get methods and members of Protocol1PacketHandler or Protocol2PacketHandler
packetHandler = PacketHandler(PROTOCOL_VERSION)# Open port
if portHandler.openPort():print("Succeeded to open the port")
else:print("Failed to open the port")print("Press any key to terminate...")getch()quit()# Set port baudrate
if portHandler.setBaudRate(BAUDRATE):print("Succeeded to change the baudrate")
else:print("Failed to change the baudrate")print("Press any key to terminate...")getch()quit()# Enable Dynamixel Torque
dxl_comm_result, dxl_error = packetHandler.write1ByteTxRx(portHandler, DXL_ID, ADDR_MX_TORQUE_ENABLE, TORQUE_ENABLE)
if dxl_comm_result != COMM_SUCCESS:print("%s" % packetHandler.getTxRxResult(dxl_comm_result))
elif dxl_error != 0:print("%s" % packetHandler.getRxPacketError(dxl_error))
else:print("Dynamixel has been successfully connected")while 1:print("Press any key to continue! (or press ESC to quit!)")if getch() == chr(0x1b):break# Write goal positiondxl_comm_result, dxl_error = packetHandler.write4ByteTxRx(portHandler, DXL_ID, ADDR_MX_GOAL_POSITION, dxl_goal_position[index])if dxl_comm_result != COMM_SUCCESS:print("%s" % packetHandler.getTxRxResult(dxl_comm_result))elif dxl_error != 0:print("%s" % packetHandler.getRxPacketError(dxl_error))while 1:# Read present positiondxl_present_position, dxl_comm_result, dxl_error = packetHandler.read4ByteTxRx(portHandler, DXL_ID, ADDR_MX_PRESENT_POSITION)if dxl_comm_result != COMM_SUCCESS:print("%s" % packetHandler.getTxRxResult(dxl_comm_result))elif dxl_error != 0:print("%s" % packetHandler.getRxPacketError(dxl_error))print("[ID:%03d] GoalPos:%03d  PresPos:%03d" % (DXL_ID, dxl_goal_position[index], dxl_present_position))if not abs(dxl_goal_position[index] - dxl_present_position) > DXL_MOVING_STATUS_THRESHOLD:break# Change goal positionif index == 0:index = 1else:index = 0# Disable Dynamixel Torque
dxl_comm_result, dxl_error = packetHandler.write1ByteTxRx(portHandler, DXL_ID, ADDR_MX_TORQUE_ENABLE, TORQUE_DISABLE)
if dxl_comm_result != COMM_SUCCESS:print("%s" % packetHandler.getTxRxResult(dxl_comm_result))
elif dxl_error != 0:print("%s" % packetHandler.getRxPacketError(dxl_error))# Close port
portHandler.closePort()

修改后代码：read_write1.py

#!/usr/bin/env python
# -*- coding: utf-8 -*-################################################################################
# Copyright 2017 ROBOTIS CO., LTD.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
################################################################################# Author: Ryu Woon Jung (Leon)#
# *********     Read and Write Example      *********
#
#
# Available DXL model on this example : All models using Protocol 1.0
# This example is tested with a DXL MX-28, and an USB2DYNAMIXEL
# Be sure that DXL MX properties are already set as %% ID : 1 / Baudnum : 34 (Baudrate : 57600)
#import osif os.name == 'nt':import msvcrtdef getch():return msvcrt.getch().decode()
else:import sys, tty, termiosfd = sys.stdin.fileno()old_settings = termios.tcgetattr(fd)def getch():try:tty.setraw(sys.stdin.fileno())ch = sys.stdin.read(1)finally:termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)return chfrom dynamixel_sdk import *                    # Uses Dynamixel SDK library# Control table address
ADDR_MX_TORQUE_ENABLE      = 24               # Control table address is different in Dynamixel model
ADDR_MX_GOAL_POSITION      = 30
ADDR_MX_PRESENT_POSITION   = 36# Protocol version
PROTOCOL_VERSION            = 1.0               # See which protocol version is used in the Dynamixel# Default setting
DXL_ID                      = 1                 # Dynamixel ID : 1
DXL2_ID                     = 2                 # Dynamixel ID : 2
BAUDRATE                    = 57600             # Dynamixel default baudrate : 57600
DEVICENAME                  = '/dev/ttyUSB0'    # Check which port is being used on your controller# ex) Windows: "COM1"   Linux: "/dev/ttyUSB0" Mac: "/dev/tty.usbserial-*"TORQUE_ENABLE               = 1                 # Value for enabling the torque
TORQUE_DISABLE              = 0                 # Value for disabling the torqueDXL_MINIMUM_POSITION_VALUE  = 10                # Dynamixel will rotate between this value
DXL_MAXIMUM_POSITION_VALUE  = 4000              # and this value (note that the Dynamixel would not move when the position value is out of movable range. Check e-manual about the range of the Dynamixel you use.)
DXL_MOVING_STATUS_THRESHOLD = 20                # Dynamixel moving status thresholdDXL2_MINIMUM_POSITION_VALUE  = 500               # Dynamixel will rotate between this value
DXL2_MAXIMUM_POSITION_VALUE  = 3000              # and this value (note that the Dynamixel would not move when the position value is out of movable range. Check e-manual about the range of the Dynamixel you use.)
DXL2_MOVING_STATUS_THRESHOLD = 10                # Dynamixel moving status thresholdindex = 0
index2 = 0
dxl_goal_position = [DXL_MINIMUM_POSITION_VALUE, DXL_MAXIMUM_POSITION_VALUE]         # Goal position
dxl2_goal_position = [DXL2_MINIMUM_POSITION_VALUE, DXL2_MAXIMUM_POSITION_VALUE]         # Goal position# Initialize PortHandler instance
# Set the port path
# Get methods and members of PortHandlerLinux or PortHandlerWindows
portHandler = PortHandler(DEVICENAME)# Initialize PacketHandler instance
# Set the protocol version
# Get methods and members of Protocol1PacketHandler or Protocol2PacketHandler
packetHandler = PacketHandler(PROTOCOL_VERSION)# Open port
if portHandler.openPort():print("Succeeded to open the port")
else:print("Failed to open the port")print("Press any key to terminate...")getch()quit()# Set port baudrate
if portHandler.setBaudRate(BAUDRATE):print("Succeeded to change the baudrate")
else:print("Failed to change the baudrate")print("Press any key to terminate...")getch()quit()# Enable Dynamixel Torque
dxl_comm_result, dxl_error = packetHandler.write1ByteTxRx(portHandler, DXL_ID, ADDR_MX_TORQUE_ENABLE, TORQUE_ENABLE)
dxl_comm_result, dxl_error = packetHandler.write1ByteTxRx(portHandler, DXL2_ID, ADDR_MX_TORQUE_ENABLE, TORQUE_ENABLE)
if dxl_comm_result != COMM_SUCCESS:print("%s" % packetHandler.getTxRxResult(dxl_comm_result))
elif dxl_error != 0:print("%s" % packetHandler.getRxPacketError(dxl_error))
else:print("Dynamixel has been successfully connected")while 1:print("Press any key to continue! (or press ESC to quit!)")if getch() == chr(0x1b):break# Write goal positiondxl_comm_result, dxl_error = packetHandler.write4ByteTxRx(portHandler, DXL_ID, ADDR_MX_GOAL_POSITION, dxl_goal_position[index])dxl_comm_result, dxl_error = packetHandler.write4ByteTxRx(portHandler, DXL2_ID, ADDR_MX_GOAL_POSITION, dxl2_goal_position[index2])if dxl_comm_result != COMM_SUCCESS:print("%s" % packetHandler.getTxRxResult(dxl_comm_result))elif dxl_error != 0:print("%s" % packetHandler.getRxPacketError(dxl_error))while 1:# Read present positiondxl_present_position, dxl_comm_result, dxl_error = packetHandler.read4ByteTxRx(portHandler, DXL_ID, ADDR_MX_PRESENT_POSITION)dxl2_present_position, dxl_comm_result, dxl_error = packetHandler.read4ByteTxRx(portHandler, DXL2_ID, ADDR_MX_PRESENT_POSITION)if dxl_comm_result != COMM_SUCCESS:print("%s" % packetHandler.getTxRxResult(dxl_comm_result))elif dxl_error != 0:print("%s" % packetHandler.getRxPacketError(dxl_error))print("[ID:%03d] GoalPos:%03d  PresPos:%03d" % (DXL_ID, dxl_goal_position[index], dxl_present_position))print("[ID:%03d] GoalPos:%03d  PresPos:%03d" % (DXL2_ID, dxl2_goal_position[index2], dxl2_present_position))if not ((abs(dxl_goal_position[index] - dxl_present_position) > DXL_MOVING_STATUS_THRESHOLD) and ((dxl2_goal_position[index2] - dxl2_present_position) > DXL2_MOVING_STATUS_THRESHOLD)):break# Change goal positionif index == 0:index = 1else:index = 0if index2 == 0:index2 = 1else:index2 = 0# Disable Dynamixel Torque
dxl_comm_result, dxl_error = packetHandler.write1ByteTxRx(portHandler, DXL_ID, ADDR_MX_TORQUE_ENABLE, TORQUE_DISABLE)
dxl_comm_result, dxl_error = packetHandler.write1ByteTxRx(portHandler, DXL2_ID, ADDR_MX_TORQUE_ENABLE, TORQUE_DISABLE)
if dxl_comm_result != COMM_SUCCESS:print("%s" % packetHandler.getTxRxResult(dxl_comm_result))
elif dxl_error != 0:print("%s" % packetHandler.getRxPacketError(dxl_error))# Close port
portHandler.closePort()

建议，将第二个代码放入Atom中打开，对比着第一个代码看，有助于理解与运用。

三、结果展示

在这里舵机是运动的