Torque usage

README.md

@@ -1,27 +1,42 @@
-HelloSpoon-Spark
-=============
+Dynamixel XL-320
+================
 
-**Work in progress... not ready yet! Really.
+<img src="XL320-arduino-library.jpg" width="100%" alt="Dynamixel XL-320 servo library for Adruino" title="Dynamixel XL-320 servo library for Adruino">
 
-This is a library created to control HelloSpoon robot DIY version.
-HelloSpoon is a mealtime companion robot intended to feed children and elderly
-with upper limb difficulties while giving them an entertaining time.
+## A Servo library for Arduino
 
-HelloSpoon hardware is based on:
+Clone this repository into your Arduino libraries folder:
 
-Spark Core - http://docs.spark.io/hardware/
+``` $ cd ~/Documents/Arduino/libraries/ ```
 
-DYNAMIXEL XL-320 servos - http://support.robotis.com/en/product/dynamixel/xl-320/xl-320.htm
+Restart Arduino app. :-)
 
-For wiring, programming tutorials and more, please go to the Wiki section of this page.
+Open the example Arduino sketch to see how it works:
 
-Code based on:
+``` File > Examples > XL320 > XL320_servo_example ```
 
-Ax-12+ Half Duplex USART Comunication Copyright (c) 2011 Savage Electronics
-and Dynamixel Pro library for OpenCM-9.04 made by ROBOTIS, LTD.
+### Hardware
 
-Modifications made by Luis G III for HelloSpoon robot.
+[DYNAMIXEL XL-320 servo manual](http://support.robotis.com/en/product/dynamixel/xl-320/xl-320.htm) including specifications and message sending addresses.
 
-Webpage - http://hellospoonrobot.com
-Twitter - @HelloSpoon
-Youtube - http://youtube.com/user/hellospoonrobot
+### Wiring diagram
+
+Looking from above, with the servo head at the top, wire the left plug of the servo to:
+
+* PIN1: GND
+* PIN2: 5 volts
+* PIN3: Serial TX
+
+![Dynamixel XL-320 wiring diagram](XL320-wiring.jpg)
+
+### Setting the servo serial baud rate & servoID
+
+We've included some example sketches to help test and setup your servos. Out of the box they're set to communicate via serial at 1Mbps, so you might want to set them down to something more managable by Arduino at 115200.
+
+Follow the instructions in the sketch ```XL320_servo_set_baud_rate_or_id.ino``` and don't forget to power cycle the servos in between setting anything.
+
+Note: when setting the ServoID, the servos default down to 9600 baud, so after you set the servoID you'll need to set the baud rate back up to 115200.
+
+### More information
+
+Read more about this library on the [Hackerspace Adelaide Wiki](http://hackerspace-adelaide.org.au/wiki/Dynamixel_XL-320)