Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Add a page that explains the basics of the Dynamixel communication-system. #305

Draft
wants to merge 16 commits into
base: main
Choose a base branch
from
Draft

Add a page that explains the basics of the Dynamixel communication-system. #305

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
16 commits
Select commit Hold shift + click to select a range
741906a
Wrote the bulk of the electrical theory.
Claegtun May 8, 2024
916303c
Fixed formatting.
Claegtun May 8, 2024
645baac
Moved to be under system; reorganised a few other things.
Claegtun May 10, 2024
79b3130
Added more on the protocol itself.
Claegtun May 12, 2024
877f2b4
Fixed formatting.
Claegtun May 12, 2024
41e51b4
Moved the images for the overview back.
Claegtun May 12, 2024
45cd486
Update src/book/02-system/04-hardware/04-dynamixel-protocol.mdx
Claegtun May 26, 2024
c359805
Update src/book/02-system/04-hardware/04-dynamixel-protocol.mdx
Claegtun May 26, 2024
b9bdf47
Update src/book/02-system/04-hardware/04-dynamixel-protocol.mdx
Claegtun May 26, 2024
b8ef632
Update src/book/02-system/04-hardware/04-dynamixel-protocol.mdx
Claegtun May 26, 2024
338c51d
Update src/book/02-system/04-hardware/04-dynamixel-protocol.mdx
Claegtun May 26, 2024
eb2c980
Update src/book/02-system/04-hardware/04-dynamixel-protocol.mdx
Claegtun May 26, 2024
676f0a6
Update src/book/02-system/04-hardware/04-dynamixel-protocol.mdx
Claegtun May 26, 2024
0de18be
Update src/book/02-system/04-hardware/04-dynamixel-protocol.mdx
Claegtun May 26, 2024
e1e532f
Update src/book/02-system/04-hardware/04-dynamixel-protocol.mdx
Claegtun May 26, 2024
a5afb5b
Fixed and tidied a few things. Is still a work in progress.
Claegtun May 26, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
382 changes: 382 additions & 0 deletions src/book/02-system/04-hardware/04-dynamixel-protocol.mdx
View file
Open in desktop

Large diffs are not rendered by default.

123 changes: 123 additions & 0 deletions src/book/02-system/04-hardware/images/dynamixel_protocol/.$ttl.drawio.bkp
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,123 @@
<mxfile host="Electron" modified="2024-05-02T05:23:58.551Z" agent="Mozilla/5.0 (X11; Linux x86_64) AppleWebKit/537.36 (KHTML, like Gecko) draw.io/21.6.1 Chrome/112.0.5615.204 Electron/24.6.1 Safari/537.36" etag="QWCstBji0G9rLby7QxYu" version="21.6.1" type="device">
<diagram name="Page-1" id="0cv2G-S0-AO7ha8Dd1sW">
<mxGraphModel dx="478" dy="278" grid="1" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" page="1" pageScale="1" pageWidth="827" pageHeight="1169" math="0" shadow="0">
<root>
<mxCell id="0" />
<mxCell id="1" parent="0" />
<mxCell id="WnI3qK_31gTjP33_6Msq-88" value="TTL&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;br&gt;" style="rounded=0;whiteSpace=wrap;html=1;strokeColor=default;fontFamily=Times New Roman;fontSize=12;fontColor=default;fillColor=default;connectable=0;" parent="1" vertex="1">
<mxGeometry x="340" y="260" width="80" height="160" as="geometry" />
</mxCell>
<mxCell id="WnI3qK_31gTjP33_6Msq-82" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;fontFamily=Times New Roman;fontSize=12;fontColor=default;endArrow=oval;endFill=1;" parent="1" source="WnI3qK_31gTjP33_6Msq-50" edge="1">
<mxGeometry relative="1" as="geometry">
<mxPoint x="240" y="440" as="targetPoint" />
</mxGeometry>
</mxCell>
<mxCell id="WnI3qK_31gTjP33_6Msq-50" value="&lt;div style=&quot;&quot;&gt;&lt;span style=&quot;background-color: initial;&quot;&gt;&lt;br&gt;&lt;/span&gt;&lt;/div&gt;&lt;div style=&quot;&quot;&gt;&lt;span style=&quot;background-color: initial;&quot;&gt;&lt;br&gt;&lt;/span&gt;&lt;/div&gt;&lt;div style=&quot;&quot;&gt;&lt;span style=&quot;background-color: initial;&quot;&gt;&lt;br&gt;&lt;/span&gt;&lt;/div&gt;&lt;div style=&quot;&quot;&gt;&lt;span style=&quot;background-color: initial;&quot;&gt;&lt;br&gt;&lt;/span&gt;&lt;/div&gt;&lt;div style=&quot;&quot;&gt;&lt;span style=&quot;background-color: initial;&quot;&gt;UART&lt;/span&gt;&lt;/div&gt;" style="rounded=0;whiteSpace=wrap;html=1;strokeColor=default;fontFamily=Times New Roman;fontSize=12;fontColor=default;fillColor=default;align=left;" parent="1" vertex="1">
<mxGeometry x="200" y="280" width="80" height="120" as="geometry" />
</mxCell>
<mxCell id="WnI3qK_31gTjP33_6Msq-53" value="RX" style="rounded=0;whiteSpace=wrap;html=1;strokeColor=default;fontFamily=Times New Roman;fontSize=12;fontColor=default;fillColor=default;" parent="1" vertex="1">
<mxGeometry x="260" y="290" width="20" height="20" as="geometry" />
</mxCell>
<mxCell id="WnI3qK_31gTjP33_6Msq-54" value="TX" style="rounded=0;whiteSpace=wrap;html=1;strokeColor=default;fontFamily=Times New Roman;fontSize=12;fontColor=default;fillColor=default;" parent="1" vertex="1">
<mxGeometry x="260" y="370" width="20" height="20" as="geometry" />
</mxCell>
<mxCell id="WnI3qK_31gTjP33_6Msq-74" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.5;exitY=0;exitDx=0;exitDy=0;fontFamily=Times New Roman;fontSize=12;fontColor=default;startArrow=oval;startFill=0;endArrow=oval;endFill=1;" parent="1" source="WnI3qK_31gTjP33_6Msq-72" edge="1">
<mxGeometry relative="1" as="geometry">
<mxPoint x="320" y="330" as="targetPoint" />
<Array as="points">
<mxPoint x="380" y="330" />
<mxPoint x="340" y="330" />
</Array>
</mxGeometry>
</mxCell>
<mxCell id="WnI3qK_31gTjP33_6Msq-76" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0;exitY=0.5;exitDx=0;exitDy=0;fontFamily=Times New Roman;fontSize=12;fontColor=default;endArrow=none;endFill=0;" parent="1" source="WnI3qK_31gTjP33_6Msq-72" edge="1">
<mxGeometry relative="1" as="geometry">
<mxPoint x="560" y="300" as="targetPoint" />
</mxGeometry>
</mxCell>
<mxCell id="WnI3qK_31gTjP33_6Msq-78" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=1;exitY=0.5;exitDx=0;exitDy=0;fontFamily=Times New Roman;fontSize=12;fontColor=default;" parent="1" source="WnI3qK_31gTjP33_6Msq-72" edge="1">
<mxGeometry relative="1" as="geometry">
<mxPoint x="280" y="300" as="targetPoint" />
</mxGeometry>
</mxCell>
<mxCell id="WnI3qK_31gTjP33_6Msq-72" value="" style="triangle;whiteSpace=wrap;html=1;rounded=0;strokeColor=default;fontFamily=Times New Roman;fontSize=12;fontColor=default;fillColor=default;rotation=-180;" parent="1" vertex="1">
<mxGeometry x="360" y="280" width="40" height="40" as="geometry" />
</mxCell>
<mxCell id="WnI3qK_31gTjP33_6Msq-75" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.5;exitY=0;exitDx=0;exitDy=0;fontFamily=Times New Roman;fontSize=12;fontColor=default;endArrow=none;endFill=0;" parent="1" source="WnI3qK_31gTjP33_6Msq-73" edge="1">
<mxGeometry relative="1" as="geometry">
<mxPoint x="280" y="330" as="targetPoint" />
<Array as="points">
<mxPoint x="380" y="350" />
<mxPoint x="320" y="350" />
<mxPoint x="320" y="330" />
</Array>
</mxGeometry>
</mxCell>
<mxCell id="WnI3qK_31gTjP33_6Msq-77" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=1;exitY=0.5;exitDx=0;exitDy=0;fontFamily=Times New Roman;fontSize=12;fontColor=default;endArrow=oval;endFill=1;" parent="1" source="WnI3qK_31gTjP33_6Msq-73" edge="1">
<mxGeometry relative="1" as="geometry">
<mxPoint x="440" y="300" as="targetPoint" />
</mxGeometry>
</mxCell>
<mxCell id="WnI3qK_31gTjP33_6Msq-79" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0;exitY=0.5;exitDx=0;exitDy=0;fontFamily=Times New Roman;fontSize=12;fontColor=default;startArrow=classic;startFill=1;endArrow=none;endFill=0;" parent="1" source="WnI3qK_31gTjP33_6Msq-73" edge="1">
<mxGeometry relative="1" as="geometry">
<mxPoint x="280" y="380" as="targetPoint" />
</mxGeometry>
</mxCell>
<mxCell id="WnI3qK_31gTjP33_6Msq-73" value="" style="triangle;whiteSpace=wrap;html=1;rounded=0;strokeColor=default;fontFamily=Times New Roman;fontSize=12;fontColor=default;fillColor=default;rotation=0;" parent="1" vertex="1">
<mxGeometry x="360" y="360" width="40" height="40" as="geometry" />
</mxCell>
<mxCell id="WnI3qK_31gTjP33_6Msq-80" value="TX_EN" style="rounded=0;whiteSpace=wrap;html=1;strokeColor=default;fontFamily=Times New Roman;fontSize=12;fontColor=default;fillColor=default;" parent="1" vertex="1">
<mxGeometry x="240" y="320" width="40" height="20" as="geometry" />
</mxCell>
<mxCell id="WnI3qK_31gTjP33_6Msq-81" value="" style="endArrow=none;html=1;rounded=0;fontFamily=Times New Roman;fontSize=12;fontColor=default;" parent="1" edge="1">
<mxGeometry width="50" height="50" relative="1" as="geometry">
<mxPoint x="240" y="460" as="sourcePoint" />
<mxPoint x="560" y="440" as="targetPoint" />
<Array as="points">
<mxPoint x="240" y="440" />
</Array>
</mxGeometry>
</mxCell>
<mxCell id="WnI3qK_31gTjP33_6Msq-83" value="" style="endArrow=none;html=1;rounded=0;fontFamily=Times New Roman;fontSize=12;fontColor=default;startArrow=classic;startFill=1;" parent="1" edge="1">
<mxGeometry width="50" height="50" relative="1" as="geometry">
<mxPoint x="480" y="380" as="sourcePoint" />
<mxPoint x="560" y="399.66999999999996" as="targetPoint" />
<Array as="points">
<mxPoint x="480" y="400" />
</Array>
</mxGeometry>
</mxCell>
<mxCell id="WnI3qK_31gTjP33_6Msq-84" value="" style="pointerEvents=1;verticalLabelPosition=bottom;shadow=0;dashed=0;align=center;html=1;verticalAlign=top;shape=mxgraph.electrical.signal_sources.signal_ground;rounded=0;strokeColor=default;fontFamily=Times New Roman;fontSize=12;fontColor=default;fillColor=default;" parent="1" vertex="1">
<mxGeometry x="235" y="460" width="10" height="10" as="geometry" />
</mxCell>
<mxCell id="WnI3qK_31gTjP33_6Msq-85" value="Ground" style="text;html=1;align=center;verticalAlign=middle;resizable=0;points=[];autosize=1;strokeColor=none;fillColor=none;fontSize=12;fontFamily=Times New Roman;fontColor=default;" parent="1" vertex="1">
<mxGeometry x="510" y="410" width="60" height="30" as="geometry" />
</mxCell>
<mxCell id="WnI3qK_31gTjP33_6Msq-86" value="Power" style="text;html=1;align=center;verticalAlign=middle;resizable=0;points=[];autosize=1;strokeColor=none;fillColor=none;fontSize=12;fontFamily=Times New Roman;fontColor=default;" parent="1" vertex="1">
<mxGeometry x="515" y="369.66999999999996" width="50" height="30" as="geometry" />
</mxCell>
<mxCell id="WnI3qK_31gTjP33_6Msq-87" value="Data" style="text;html=1;align=center;verticalAlign=middle;resizable=0;points=[];autosize=1;strokeColor=none;fillColor=none;fontSize=12;fontFamily=Times New Roman;fontColor=default;" parent="1" vertex="1">
<mxGeometry x="515" y="270" width="50" height="30" as="geometry" />
</mxCell>
<mxCell id="WnI3qK_31gTjP33_6Msq-90" value="" style="endArrow=none;dashed=1;html=1;rounded=0;fontFamily=Times New Roman;fontSize=12;fontColor=default;" parent="1" edge="1">
<mxGeometry width="50" height="50" relative="1" as="geometry">
<mxPoint x="560" y="399.66999999999996" as="sourcePoint" />
<mxPoint x="600" y="399.66999999999996" as="targetPoint" />
</mxGeometry>
</mxCell>
<mxCell id="WnI3qK_31gTjP33_6Msq-91" value="" style="endArrow=none;dashed=1;html=1;rounded=0;fontFamily=Times New Roman;fontSize=12;fontColor=default;" parent="1" edge="1">
<mxGeometry width="50" height="50" relative="1" as="geometry">
<mxPoint x="560" y="299.72" as="sourcePoint" />
<mxPoint x="600" y="299.72" as="targetPoint" />
</mxGeometry>
</mxCell>
<mxCell id="WnI3qK_31gTjP33_6Msq-92" value="" style="endArrow=none;dashed=1;html=1;rounded=0;fontFamily=Times New Roman;fontSize=12;fontColor=default;" parent="1" edge="1">
<mxGeometry width="50" height="50" relative="1" as="geometry">
<mxPoint x="560" y="440" as="sourcePoint" />
<mxPoint x="600" y="440" as="targetPoint" />
</mxGeometry>
</mxCell>
</root>
</mxGraphModel>
</diagram>
</mxfile>
Loading