I’ll start this site because different people did ask me about details of some projects, pictures, …
And I am of course someone who would like to share my more or less finished projects. I think a blog might be a good way to do this.
Finally I got the code fixed that talks to the servos. The first AX-12A is moving. The scope screen shows the serial communication on the servo bus. Now I am expanding the functions to be able to talk with the three servos of the test foot. At the moment two AX-12A and one MX-28.
This servo configuration might change in the future, a parcel with more servos is on it’s way.
I am not unexperienced with AVRs. Owning a bunch of SPI programmers and a JTAGICE3.
The first thing I realized was that the easy to use development environment only supports one source file. Well. And it’s rather minimalistic. I switched to real makefiles and Eclipse.
Then I found out that the standard libraries are mainly supporting a linear synchronous programming model without fancy timers and interrupt handlers. I did start to write my own libraries in plain C.
When I tried to plug an interrupt routine into USART1 I got errors because the default libraries did occupy all serial interrupts, not only the one of USART0 used for the USB connection. That’s understandable because the AVR isn’t made for hardware abstraction and dynamic configuration. I did remove all the Arduino C++ code and recycled an existing library for the console I/O.
Now I am happy with an Arduino using purely the hardware. A really nice piece. I bought a second one.