The bioloid motors are accessed through the Motor objects and have the following carateristics :

If your engine doesn't load any filename.u at start (declared in CLIENT.INI or in URBI.INI), by default no motors are created because of the structure of the bioloid, we don't know how many motors are in your robot. You must declare them before sending any command to them

motor[i] = new Motor(j);

This method can be used to create an array for all your motors. Remember the array begins at index 0. Moreover, the parameter you give to Motor is the ID of the motor you want to instanciate.

var i = 0;
for j in [10,12,16,18] {
 motor[i] = new Motor(j);
 i = i + 1;
};

or for a full automated creation of all available motors:

var i = 0;
for j in Bioloid.listAX12 {
 motor[i] = new Motor(j);
 i = i + 1;
};

this sample create the 4 motors of the bioloid car:

Motors are available by the motor__X, with X between 0 and your max_numbered_motor. You can (need to) adapt the #ID of motors in your scripts to the configuration of your robot (it's easier to rename each motor)!

Naming Standard: Depending the form of your bioloid robot (humanoid, car, quaduped, etc ...) *.u files exists for creating aliases and groups for this motors, to have a common naming standard for all robot. see Bioloid.data folder.

Not all config are already defined, don't hesitate to create and share your own .u files on www.urbiforge.org

A motor has the following attributes:

all this attributes are accessibled by calling myMotor.attribute like:

You can drive your motor in two modes, depending of the close-loop control you want:

To use this feature you need to set .cwAngleLimit and .ccwAngleLimit to adapted values:

Note that every descriptions beginning with a 0xNN address number is directly associated to AX-12 memory address, see dynamixel AX-12 manual for more informations on these functions : AX-12 Dynamixel or here