Something like this one for Dynamixel actuators would be great. I was kind of hoping there would be a list of commands and what they do someplace (other than within the code). I'll likely load one of the Arduino based examples and monitor the com line with a logic analyzer to see if the payload structure becomes understandable. I'm reading through the code attempting to understand how this payload is structured. The line "The payload of the packet" is disappointingly vague. ![]() Two bytes with a CRC checksum on the payload One or two bytes specifying the packet length One Start byte (value 2 for short packets and 3 for long packets) The VESC communicates over UART using packets with the following format: I'm guessing the "3" value for start and stop doesn't present the same issue when using CAN. ![]() ![]() I think the original comm protocol used CAN. Why on earth would you use a stop byte value that is the same as a possible start byte value ?
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