This is a library for controlling the Hovis HerkuleX servo motors (tested on models DRS-0101, DRS-DRS-0201 and DRS-0601) in C++, running on Linux. The library communicates the computer with the servos through serial port and a generic USB-to-TTL converter and currently allows basic angular movement commands as well as angular speed setting commands. It also provides basic functions such as ping, LEDs turning on/off, position/speed reading and ID setting.

The library is compiled with make using GCC. Therefore build-essential should be installed.

sudo apt-get install build-essential

mkdir build && cd build && cmake .. && sudo make install

Then you can start using the library by including the header "herkulex_sdk.h" in your .cpp files.

• Victor Sandoval - daconjurer

This project is licensed under the BSD 3-Clause License - see the LICENSE.md file for details.

• The code is strongly based on the ROBOTIS Dynamixel SDK (Protocol1.0/2.0) https://github.com/ROBOTIS-GIT/DynamixelSDK part of the ROBOTIS Official GitHub (ROBOTIS-GIT).

• The HerkuleX trademark is property of HYULIMROBOT. This SDK intends to be an API for developers and is free software.