Example Code for Arduino-UNO

Software Preparation

• Development tool: Arduino IDE (download link: Arduino IDE)
• Library: Herkulex Arduino library
• Library Manual: Arduino library Manual

Wiring Diagram

Other Preparation Work

• There is only one Hardware Serial port on UNO, so Software Serial has to be used
• Default Herkulex baud rate (115200) may be unstable with Software Serial - recommended to change to 57600 first
• Verify your motor ID (default: 0xfe)

Sample Code

#include <Herkulex.h>

int n=0xfe; //motor ID - verify your ID !!!!

void setup()
{
  delay(2000);  //a delay to have time for serial monitor opening
  Serial.begin(115200);    // Open serial communications
  Serial.println("Begin");
  Herkulex.begin(115200,10,11); //open serial with rx=10 and tx=11
  Herkulex.reboot(n); //reboot first motor
  delay(500);
  Herkulex.initialize(); //initialize motors
  delay(200);
}

void loop(){
  Serial.println("Move Angle: -100 degrees");
  Herkulex.moveOneAngle(n, -100, 1000, LED_BLUE); //move motor with 300 speed
  delay(1200);
  Serial.print("Get servo Angle:");
  Serial.println(Herkulex.getAngle(n));
  Serial.println("Move Angle: 100 degrees");
  Herkulex.moveOneAngle(n, 100, 1000, LED_BLUE); //move motor with 300 speed
  delay(1200);
  Serial.print("Get servo Angle:");
  Serial.println(Herkulex.getAngle(n));
}