ax12SetRegister4 was giving me inconsistent results that I didn't understand. It would move the servo to some positions, but not others. I couldn't figure out if I needed to pass it an integer from 0-4095 or a 0x-style hex value. I didn't understand the behavior of what it was doing (and usually NOT doing).
I then changed to the ax12SetRegister2e4 function. This worked immediately and consistently. I can pass it a value between 0 and 4095 and the servo goes to that position.
I have also found that I need to put in a brief delay(100) after the command and I need to read the register afterward, otherwise the program doesn't work. Not sure why. But it is OK.
I'm still testing and refining and gaining a better understanding to what's happening, but so far, it looks super promising! Well done! 
I'm glad you're getting a couple of these servos. They seem very cool so far. I really like them. They default to 57600 and Protocol 2.0. I used Robotis's R+ Manager 2.0 program to switch them to Protocol 1.0. And I changed the test program from 1000000 to 57600.
Thanks for all your help so far. Here is my little test program.
Code:
#include <ax12Serial.h>
#include <BioloidSerial.h>
#define AX_BUS_UART Serial1
// SERVO DEFINITIONS AND IDs
#define PAN 1
#define TILT 2
#define FRONT_RIGHT 3
#define BACK_RIGHT 4
#define BACK_LEFT 5
#define FRONT_LEFT 6
static const byte pgm_axdIDs[] PROGMEM = {FRONT_RIGHT,BACK_RIGHT,BACK_LEFT,FRONT_LEFT,PAN,TILT};
#define NUM_SERVOS ((int)(sizeof(pgm_axdIDs)/sizeof(pgm_axdIDs[0])))
const char* IKPinsNames[] = {"FR","BR","BL","FL","P","T"};
BioloidControllerEx bioloid = BioloidControllerEx();
const int buzzer = 14;
int present_position = 0;
void setup()
{
digitalWrite(13,HIGH);
while (!Serial && (millis() < 3000)) ; // Give time for Teensy and other USB arduinos to create serial port
Serial.begin(9600);
Serial.println("SERVO TEST SKETCH");
delay(250);
bioloid.begin(57600, &AX_BUS_UART);
bioloid.poseSize = NUM_SERVOS;
delay(1000);
tone(buzzer,2000);
delay(250);
noTone(buzzer);
delay(2000);
// Turn on servo torque
ax12SetRegister(1, AX_TORQUE_ENABLE, 0x1);
delay(100);
}
void loop()
{
// TURN ON LED
ax12SetRegister(1, AX_LED, 0x01);
delay(100);
// MOVE TO POSITION 0
ax12SetRegister2e4(1, AX_GOAL_POSITION_L, 10);
delay(2000);
present_position = ax12GetRegister(1, AX_PRESENT_POSITION_L, 4);
Serial.println(present_position);
// TURN OFF LED
ax12SetRegister(1, AX_LED, 0x0);
delay(100);
// MOVE TO POSITION 4090
ax12SetRegister2e4(1, AX_GOAL_POSITION_L, 4090);
delay(2000);
present_position = ax12GetRegister(1, AX_PRESENT_POSITION_L, 4);
Serial.println(present_position);
}
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Originally Posted by Joe31093
