POST No. 2407957
Support for Teensy?
2020-10-07 16:37:33 Perrin

Is there any update on providing Dynamixel support for the Teensy  boards? I'm using an OpenCm 9.04 but need more than 3 UARTS. I saw that there was some work done on this in 2018 so wondered how it was going. I'm using Dynamixel2Arduino and DynamixelSDK. I'd like to know before I invest in a Teensy and try the WIP libraries

2020-10-07 16:37:33
2020-10-08 08:03:29 Kurt Eckhardt
My Doubts that there will ever be any official support by Robotis for Teensy boards.  However there are several of us who have used libraries to do this. 

My earlier stuff was done based off of the Trossen Robotics (Interbotix) library (bioloid).  I have a version of it called bioloidSerial (https://github.com/KurtE/BioloidSerial)

Yes I did/do have versions of DynamixelSDK that supports the teensy...

Also I have experimented with DynamixelToArduino, and is or was pretty easy. 

I believe they still have an example like NewSerialPortHandler which creates a simple subclass which can handle some cases, like having a external pin, which controls if you are doing output or input to serial port... Which could work on some of my Teensy boards.

But on those boards I might instead try to override the initialize function to setup the Teensy to do the work for me, by calling something like Serial1.transmitterEnable(pin);
And then might still use a subclass like this but could remove the need for calling flush

Likewise can sub-class it to work with the half duplex mode (TX Pin).  At one point I was suggesting a few additional additions, which could improve the ability to subclass, like having the underlying code be able to call something like a logical flush that says that we have completed the output of  the full message.  But it has been awhile since I have played wit this.

Hopefully someone from Robotis can fill this in more and/or potentially you might ask this up on the PJRC forum... 

2020-10-08 08:03:29
2020-10-09 15:31:51 John Perrin
Thanks for that. I might get a Teensy board anyway and start playing around with it. Could be a good direction to head. That link 404s on me though
2020-10-09 15:31:51
2020-10-12 09:56:53 Will Son


Unfortunately, we do not have a specific plan for supporting Teensy board yet.

The correct Kurt's link is : https://github.com/KurtE/BioloidSerial

Thank you.

2020-10-12 09:56:53
2020-10-21 18:11:51 John Perrin

Thanks Wilson

2020-10-21 18:11:51
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