I currently have six XL430-W250T motors daisy chained interfaced through the U2D2. The six motors form three pan-tilt platforms. I have them set up on a frame, but I anticipate I will swap motors in and out of the frame quite frequently.
Is there a way I can scan the motor IDs and discover the order in which they are daisy-chained? This way, I can automate in code which motor ID belongs to which position in the pan-tilt platform.
I am controlling the motors using the Dynamixel SDK in C++ (linux64).
For now, unfortunately if DYNAMIXELs are daisy chained, it is difficult to detect the order of connection from the software side.
Thank you for your inquiry.
If all you want to do is to find a new servo in the chain, then number them all with an ID that is NOT 1. When you add the new one it will have the default ID of 1 so you can talk to that, determine which it is and then reprogram the ID to whatever is should be.