- Download zip file
- Extract zip
- Rename the folder : AX-12A-servo-library-master --> AX-12A-servo-library
- Put the folder into your library folder (usually Documents/Arduino/libraries)
To use the library, include header file located in the src folder.
#include "AX12A.h"
The library is provided with 4 Arduino examples :
- Blink : simpliest example to blink the built-in LED
- Move : example showing how to set a goal position
- EndlessTurn : example of endlessTurn mode (wheel mode)
- readRegister : debug AX-12A by printing all its registers
You have 4 lines to configure :
#define DirectionPin (10u)
#define BaudRate (1000000ul)
#define ID (1u)
...
AX12A.begin(BaudRate, DirectionPin, &Serial);
DirectionPin is the GPIO used to change communication direction.
BaudRate corresponds to the baud rate used to communicate with the servo.
ID corresponds to the ID of the servo (from 0 to 253, 254 is used for broadcast).
&Serial refers to the serial port you want to use. It may have to be changed to &Serial1, &SerialUSB or other depending on the board package you use (variant files).
Change AX-12A settings by connecting the servo to a PC via USB2Dynamixel.
To do so, install Dynamixel Wizard included in the RoboPlus software suite.
Follow these instructions to connect and access the AX-12A settings.
We tested the library on differents boards at the most common baud rates.
Some boards cannot reach the desired baud rate :
| Address 0x04 | Baud rate | Feather M0 | Feather 32u4 | nRF52 | STM32L4 |
|---|---|---|---|---|---|
| 1 | 1000000 | ok | ok | ok | fail |
| 3 | 500000 | ok | ok | fail | ok |
| 4 | 400000 | ok | fail | fail | ok |
| 7 | 250000 | ok | ok | ok | ok |
| 9 | 200000 | ok | ok | fail | ok |
| 16 | 115200 | ok | ok | ok | ok |
| 34 | 57600 | ok | fail | ok | ok |
| 103 | 19200 | ok | ok | ok | ok |
| 207 | 9600 | ok | ok | ok | ok |