How can I connect 4 DYNAMIXEL XL430-W250T with OpenCr 1.0(like Turtlebbot3 monster)?)

asked 2020-02-13 14:14:04 -0500

dhaour9x gravatar image

updated 2020-02-13 14:14:22 -0500

Hi everyone, I am currently writing my master thesis in the field of autonomous systems based on the Robot Operating System (ROS)

I have Turtlebot3 burger as a base and I want to build turtlebot3 burger with 4 DYNAMIXEL XL430-W250T, but I didn't find any assembly instructions for it. I also tried to connect the rear servo motors to the front motors, which I connected with OpenCr (TTL), then I updated the Opencr frimware via arduino (File->Example-> turtlebot3->turtlebot3_friends-> turtlrbot3_monster)and tested with PUSH SW 1 and PUSH SW 2, but unfortunately the motors did not rotate. If I update the Opencr frimware via arduino (File->Example-> turtlebot3->turtlebot3_waffle-> turtlrbot3_core)update, the test works with HW PUSH 1 and HW PUSH 2 and the engines rotate.

I would like to ask you if there is any help material to help me with the hardware and OpenCr frimware update (turtlebot3 burger with 4 DYNAMIXEL XL430-W250T) configuration.

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