Problem using Dynamixel Pro with LabVIEW RT 14

[Ddrizzle]

Has anyone gotten Dynamixel Pro servo motors that use Protocol 2 to work with Labview RT?

Thanks in advance!

-Dan

[JÞB]

I can't see why not, Looking here the communications is a simple RS-232 protocol Albeit with some funky bit stuffing (replacing 0b 1111 1111 1111 1111 1111 1100 with 0b 1111 1111 1111 1111 1111 1100 1111 1100) and a strange header (0b 1111 1111 1111 1111 1111 1100 0000 0000)

A VISA session should work

[Ddrizzle]

I have been using the Protocol 1 library as a template to build the P2 vi's, but I am having a little bit of trouble with the funky byte stuffing.  I was able to get the correct CRC values from the CRC code provided by Robotis, but am not totally sure how to implement the byte stuffing.

Thanks!

[JÞB]

After converting the length and data to string just do a search and replace on "FFFFFFFD" with "FFFFFFFDFD" (Calculate the crc after stuffing)  I know, that means you need to gyrate U8[] to String to U8[] to String but, that's how they implemented the darned thing. (I said it was funky)  .And, of course, you need to "Unstuff" the received data just the opposite.

[Ddrizzle]

I understand that the directions state to calculate the CRC with the stuffing applied, but I was calculating the correct CRC value sans stuffing (based on CRC values for examples given in the manual) .  Which begs the question, are the directions correct or was that just a really cool coincidence?

[JÞB]

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@Ddrizzle wrote:

I understand that the directions state to calculate the CRC with the stuffing applied, but I was calculating the correct CRC value sans stuffing (based on CRC values for examples given in the manual) .  Which begs the question, are the directions correct or was that just a really cool coincidence?

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Probably a cool coincidence with a normal packet that didn't require any stuffing