PhantomX Robot Turret Controller

Version (34.3 KB) by Gavin
Control the Trossen Robotics PhantomX RoboTurret:
Updated 18 May 2012

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Can be used to control the Trossen Robotics PhantomX RoboTurret.
Or more generally to control AX12 dynamixel servos connected to an Arbotix board.

See here for demonstration video:

1) You will need at least an Arduino board which can talk RS495 and 1 dynamixel servo
2) If you want to modify the Arduino code it wouldn't be hard to get it to work on another Arduino compatible board
which can (or has a shield to allow it to) talk to Dynamixel servos

__ Author __
Gavin Paul
12th April 2012
Update: 18th May 2012 (added the missing strpad.m file)

__ Files in Toolbox __


Serial to PantomX Protocol Specification.doc

__ Instructions __
1) Burn the PhantomXTurret.pde to your arbotix board
2) For how to:
- use the basic controller type "help PhantomXMessagePort" into matlab command line
- write/load/play an unlimited sequence of movements type "help PhantomXSequencePlayer" into matlab command line
- use the GUI type "help PhantomXTurretGUI" into matlab command line

Note: a serial port and a message port are different things. The serial port is lower level and only talks serial,
while the message port understands the hardware and sends/processes control messages to/from the serial port.

Cite As

Gavin (2024). PhantomX Robot Turret Controller (, MATLAB Central File Exchange. Retrieved .

MATLAB Release Compatibility
Created with R2010a
Compatible with any release
Platform Compatibility
Windows macOS Linux
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Version Published Release Notes

Included the strpad.m which is (and always was) needed to construct the correctly sized packets.