Position Control Problems: OpenCR 1.0 with Dynamixel XM430-W350-R

[hdavidjensen]

Hello I am trying use the position control function with my Dynamixel XM430-W350-R on an OpenCR 1.0 board.

It will move to one position but only once, if I have two positions in the same loop it will only go to one of them, and then after that it won't move at all, even in response to any changes I make in the raw position numbers.

I have been able to utilize the velocity operating mode but not this.

I wanted to use Dynamixel Wizard 2.0 to troubleshoot, but it won't recognize the device, and upon following the instructions to update the firmware to fix this, I get a message that says (Port Open Failed) and I know the comm port I am using is correct.

This is the code I am using:

#include <Dynamixel2Arduino.h>
#define DXL_SERIAL Serial3
#define DEBUG_SERIAL Serial
const int DXL_DIR_PIN = 84;

const uint8_t DXL_ID = 1;
const float DXL_PROTOCOL_VERSION = 2.0;

Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);

//This namespace is required to use Control table item names
using namespace ControlTableItem;

void setup() {
// put your setup code here, to run once:
// Use UART port of DYNAMIXEL Shield to debug.
DEBUG_SERIAL.begin(115200);

// Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
dxl.begin(57600);
// Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
dxl.setPortProtocolVersion(2.0);

// Get DYNAMIXEL information
dxl.ping(DXL_ID);

// Turn off torque when configuring items in EEPROM area
dxl.torqueOff(DXL_ID);
delay(1000);
dxl.ledOn(DXL_ID);
DEBUG_SERIAL.println("LED ON");
delay(1000);
dxl.setOperatingMode(DXL_ID, OP_POSITION);
dxl.torqueOn(DXL_ID);
}

void loop() {
// put your main code here, to run repeatedly:
int i_present_position = 0;
i_present_position = dxl.getPresentPosition(DXL_ID);
DEBUG_SERIAL.print("Present_Position(raw) : ");
DEBUG_SERIAL.println(i_present_position);
delay(1000);
dxl.setGoalPosition(DXL_ID, 1);
delay(3000);
dxl.setGoalPosition(DXL_ID, 3000);
delay(3000);
}

Here is the link to the firmware recovery video I already tried but did not work:
https://www.youtube.com/watch?v=FAnVIE_23AA