libdynamixel

a speedy C library for accessing Dynamixel AX servos

about

I needed a C library for communication using a simple serial device like USB2AX (http://xevelabs.com/doku.php?id=product:usb2ax:usb2ax).

Another starting point for me has been the dynapi ( http://www.jrl.cs.uni-frankfurt.de/web/projects/dynapi-robotis-dynamixel-c-api/ ) which is in C++ and also only supports the CM5 interface. Which does seem to use ASCII like commands and no raw serial bytes.

So anyway, I started with pydynamixel https://code.google.com/p/pydynamixel/ and decided to write a simple and fast C library.

Here we are.

Most of the code came from libmodbus which to be honest gave me the perfect skeleton for this library.

Thanks again to Stéphane Raimbault from http://libmodbus.org who allowed me to copy and abuse his code.

All you need is cmake and a gcc. Then simply create makefiles with cmake and feel free to compile:

git clone https://github.com/erazor83/libdynamixel
cd libdynamixel
cmake .
make

GPL-2, so no commercial use is allowed

Stéphane Raimbault ( https://github.com/stephane ) \ for libmodbus
Nicolas Saugnier \ for USB2AX firmware
Thomas Volkert ( https://github.com/ThomasVolkert ) \ for helping me with C and some cmake stuff