PhantomX Robot Turret Controller

Control the Trossen Robotics PhantomX RoboTurret: http://www.youtube.com/watch?v=YLt_fZFXYRw

Can be used to control the Trossen Robotics PhantomX RoboTurret.
http://www.trossenrobotics.com/p/phantomX-robot-turret.aspx
Or more generally to control AX12 dynamixel servos connected to an Arbotix board.

See here for demonstration video:
http://www.youtube.com/watch?v=YLt_fZFXYRw

Note:
1) You will need at least an Arduino board which can talk RS495 and 1 dynamixel servo
2) If you want to modify the Arduino code it wouldn't be hard to get it to work on another Arduino compatible board
which can (or has a shield to allow it to) talk to Dynamixel servos

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__ Author __
Gavin Paul
Gavin.Paul[at]gmail.com
12th April 2012
Update: 18th May 2012 (added the missing strpad.m file)

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__ Files in Toolbox __

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Serial to PantomX Protocol Specification.doc
PhantomXSequencePlayer.m
PhantomXMessagePort.m
PhantomXTurretGUI.m
PhantomXTurret.pde
trajectoryData.mat
README.txt

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__ Instructions __
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1) Burn the PhantomXTurret.pde to your arbotix board
2) For how to:
- use the basic controller type "help PhantomXMessagePort" into matlab command line
- write/load/play an unlimited sequence of movements type "help PhantomXSequencePlayer" into matlab command line
- use the GUI type "help PhantomXTurretGUI" into matlab command line

Note: a serial port and a message port are different things. The serial port is lower level and only talks serial,
while the message port understands the hardware and sends/processes control messages to/from the serial port.