Forums General General Chat Technical documentation and stuff Reply To: Technical documentation and stuff

Edouard Renard
Post count: 239

Hey Norman,

Yes we do have an exploded view of Niryo One (video on Youtube). You can use it and take screenshots from it.

The protocols used to communicate between the Raspberry Pi board (+ shield) and the motors are:

– CAN bus for NiryoStepper motors (firmware here, and Raspberry Pi driver here)

– TTL half-duplex for Dynamixel motors. Both XL-320 and XL-430 use the same protocol – Dynamixel protocol 2.0 (driver here).