Example Code for Arduino-Random Position and Velocity Control

Hardware Preparation

You need a Ax-12 CDS55xx Driver Board to drive these servos.

Wiring Diagram

Please see AX12 CDS55xx Driver Board(SKU:DRI0016) wiki for a wiring diagram.

Sample Code

#define startByte 0xFF
#define ID 0x01

//— Control Table Address —
//EEPROM AREA
#define P_MODEL_NUMBER_L 0
#define P_MODEL_NUMBER_H 1
#define P_VERSION 2
#define P_ID 3
#define P_BAUD_RATE 4
#define P_RETURN_DELAY_TIME 5
#define P_CW_ANGLE_LIMIT_L 6
#define P_CW_ANGLE_LIMIT_H 7
#define P_CCW_ANGLE_LIMIT_L 8
#define P_CCW_ANGLE_LIMIT_H 9
#define P_SYSTEM_DATA2 10
#define P_LIMIT_TEMPERATURE 11
#define P_DOWN_LIMIT_VOLTAGE 12
#define P_UP_LIMIT_VOLTAGE 13
#define P_MAX_TORQUE_L 14
#define P_MAX_TORQUE_H 15
#define P_RETURN_LEVEL 16
#define P_ALARM_LED 17
#define P_ALARM_SHUTDOWN 18
#define P_OPERATING_MODE 19
#define P_DOWN_CALIBRATION_L 20
#define P_DOWN_CALIBRATION_H 21
#define P_UP_CALIBRATION_L 22
#define P_UP_CALIBRATION_H 23
#define P_TORQUE_ENABLE (24)
#define P_LED (25)
#define P_CW_COMPLIANCE_MARGIN (26)
#define P_CCW_COMPLIANCE_MARGIN (27)
#define P_CW_COMPLIANCE_SLOPE (28)
#define P_CCW_COMPLIANCE_SLOPE (29)
#define P_GOAL_POSITION_L (30)
#define P_GOAL_POSITION_H (31)
#define P_GOAL_SPEED_L (32)
#define P_GOAL_SPEED_H (33)
#define P_TORQUE_LIMIT_L (34)
#define P_TORQUE_LIMIT_H (35)
#define P_PRESENT_POSITION_L (36)
#define P_PRESENT_POSITION_H (37)
#define P_PRESENT_SPEED_L (38)
#define P_PRESENT_SPEED_H (39)
#define P_PRESENT_LOAD_L (40)
#define P_PRESENT_LOAD_H (41)
#define P_PRESENT_VOLTAGE (42)
#define P_PRESENT_TEMPERATURE (43)
#define P_REGISTERED_INSTRUCTION (44)
#define P_PAUSE_TIME (45)
#define P_MOVING (46)
#define P_LOCK (47)
#define P_PUNCH_L (48)
#define P_PUNCH_H (49)

//— Instruction —
#define INST_PING 0x01
#define INST_READ 0x02
#define INST_WRITE 0x03
#define INST_REG_WRITE 0x04
#define INST_ACTION 0x05
#define INST_RESET 0x06
#define INST_DIGITAL_RESET 0x07
#define INST_SYSTEM_READ 0x0C
#define INST_SYSTEM_WRITE 0x0D
#define INST_SYNC_WRITE 0x83
#define INST_SYNC_REG_WRITE 0x84

void setup()
{
Serial.begin(1000000);                        // start serial port at 1000000 bps:
}

void loop()
{
//  if (Serial.available() > 0) {              // if we get a valid byte
//    Serial.println( Serial.read() );            // get incoming byte:
//  }

// Instruction Packet OXFF 0XFF ID LENGTH INSTRUCTION PARAMETER1 …PARAMETER N CHECK SUM
// CDS5500 tech support suggests the following will work: FF FF 01 07 03 1E 00 02 00 02 D2
int pos = random(255);
int pos2 = random(3);
int vel = random(255);
int vel2 = random(3);
int messageLength = 5+2;

Serial.print(startByte, BYTE);              // send some data
Serial.print(startByte, BYTE);
Serial.print(ID, BYTE);
Serial.print(messageLength, BYTE);
Serial.print(INST_WRITE,BYTE);
Serial.print(P_GOAL_POSITION_L, BYTE);
Serial.print(pos, BYTE);
Serial.print(pos2, BYTE);
Serial.print(vel, BYTE);
Serial.print(vel2, BYTE);
Serial.print((~(ID + (messageLength) + INST_WRITE + P_GOAL_POSITION_L + pos + pos2 + vel + vel2))&0xFF, BYTE);
delay(1500);
}