I am currently designing/building a “Rotortug”-type marine robot. It is moved around by 3 “Schottel” type thrusters, which can be continuously rotated over a full 360+° degree range.
For manual mode, a standard R/C transmitter should be used to control the thrusters directly, like the thrusters in this video (between 0:45-1:15):
Unfortunately standard R/C servos can not move 360° and beyond, so I am looking for Dynamixel servos (especially the XL430-250T). They are advertised as being “multi-turn” capable, which sonds quite good, but I am looking more for a “endless-turn” type of capability. I have already connected ROS to the R/C receiver and can receive the stick positions.
I am actually looking through the SDK (I do my coding in C++) , but I am not sure if the “endless-turn” capability I need is already in there (it seems to be something like multi-turn, but no quite it).
Anybody out there who knows how to use Dynamixel XL’s in this fashion?`
Thanks in advance, any help is appreciated…