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Inspexel - The swiss army knife for dynamixel servo motors

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#1

Inspexel

The swiss army knife for dynamixel servo motors

We developed a new command line tool called inspexel (inspector dynamixel).
It has a support for dynamixel motors (MX, MX(2), X, Pro, AX) and can use protocol version 1 and 2 for communication.

Detect motors

A single command will detect motors on the bus reads all their registers: inspexel detect --read_all.
It gives a nice overview over their state and how they deviate from the default value.

Map motors into filesystem

Another function, which can be used for scripting or just exploring a motors functionality is the fuse option. Calling inspexel fuse will map every register of the detected motors into the linux file system.
You can list all available motors with

  ls dynamixelFS/motors

To read a single register you can call

cat dynamixelFS/motors/0/register-by-name/Present\ Temperature

To set values to register

echo 60 > dynamixelFS/motors/0/register-by-name/Temperature\ Shutdown

Motivation

This tools purpose is to have a command line tool to configure dynamixel motors. Dynamixel motors are being used in many robotic projects but it seems like some tooling around them is missing.
There exists the robotis tool RoboManager which only runs under Windows. There are also other projects like Mixcell (https://github.com/clebercoutof/mixcell) which brings some of the functionality to linux.
One big issues with these tools are that they have GUI which makes it hard to use them over ssh on remote computers. Also it is not possible to use them inside of scripts.

Source

The Project is an open source software and can be found at https://github.com/gottliebtfreitag/inspexel/


#2

It looks like a very interesting projects! I remember running into some issues with controlling daisy-chained dynamixel servos before. Next time I’ll definitely start testing using your project :).

I think it’s a great project that I could share in my Robotics newsletter. Hope you won’t mind!


#3

Please, Share it. We hope to reach people who find this tool useful.
The more feedback we get, the better. We are also always open to bug findings, features and ideas.


#4

Hey.

It looks very promising.
I’m just starting my adventure, so I need a tool to play with Dynamixel.
Thanks. :slight_smile: