RoboSavvy Forum

read data with C

2007-05-22T23:51:55+01:00

You could write a C proxy that just passes on anything sent to the CM5 directly onto the servos.

Statistics: Posted by billyzelsnack — Tue May 22, 2007 11:51 pm

read data with C

2007-05-22T22:07:51+01:00

Yes, it's this what I'm looking for but I haven't an USBtoDynamixel adapter so I let down this solution. Otherwise, have you any idea how to play a motion page with a C program? If it's not possible please let me know to stop considering this solution and start looking for another thing.

Thank you.

Statistics: Posted by freeforall — Tue May 22, 2007 10:07 pm

read data with C

2007-05-23T00:32:39+01:00

freeforall,

It sounds as if you are using the serial port moniter to capture data sent from the PC to the CM-5. The data you would recieve from this would not be what you actually want. The S-curve is generated by the CM-5, not on the PC and therefore all you would recieve is a "play" command on the serial port moniter.

Instead I think you want to use the serial port monitor in conjunction with the USBtoDynamixel adapter - which must be connected on the CM-5 bus along with all of your servos. You would instead be monitoring the data sent from the CM-5 to the AX-12's, therefore getting the exact motion data. By playing the motion file, your robot will proceed to move, and all the while you will be gathering data.

I think this is what you are looking for?

Statistics: Posted by hivemind — Tue May 22, 2007 9:46 pm

read data with C

2007-05-22T20:25:38+01:00

Thank you Bullit for the software. it works very well.

I succeeded to capture the packets but it doesn't permit to launch the motion I created with the motion editor. I think it's normal. I realized that the packets sent from the PC to the robot are not the instructions that the CM-5 sends to the AX-12 but it's a request that the PC sends to the CM-5 in order to launch the motion. So it was a bad idea and there is no way to use the captured packets in a C program.

However, Bullit, I have question: is there any way to play a motion page with a C program?

thank you.

Statistics: Posted by freeforall — Tue May 22, 2007 8:25 pm

read data with C

2007-05-21T22:54:06+01:00

All you need to do is record the data going from the CM-5 to the AX-12.
Just use HHD Free serial port monitor to record the packets with a PC. Use a high speed USB FTDI module solution as discussed elsewhere here. I think the USBtoDynamixel adapter also supports 1 Megabaud. This can be connected on the same bus.
Capture what happens when you play your page from the bioloid firmware / motion editor and parse it out.

Statistics: Posted by Bullit — Mon May 21, 2007 10:54 pm

read data with C

2007-05-21T22:39:42+01:00

I've already try it. the only thing that changes is using the command "play" in the terminal instead of the button "play" in the motion editor. it's not what I need. Actually what I'm exactly seeking for is to transfer the motion I performed with the Motion Editor, to the C program I created. There is no "play" function defined in C. All what I can do is sending packets of instructions to the robot with some functions already defined.
In my opinion the only way to use a motion that has already been created with the motion editor, is to capture the packets sent to the robot when the motion is played. Once the packets captured in the hexadecimal format, I can write them directly as the argument of a defined C function (which is TxD80() ) in order to play the motion. So any ideas to capture the packets sent to the robot when a motion is played?

Statistics: Posted by freeforall — Mon May 21, 2007 10:39 pm

read data with C

2007-05-21T21:01:46+01:00

Ok. With the bioloid firmware running you can actually control the cm-5 with hyper terminal. Once communication is established, I think two 0x13's must be sent from the PC, type in hyper terminal or robot terminal or send with your PC program:
Play N
where N is the page number you want to play (0-127). Followed with 0x13 (CR)

Most of this is in the bioloid users manual under the robot terminal section.

Statistics: Posted by Bullit — Mon May 21, 2007 9:01 pm

read data with C

2007-05-21T20:45:25+01:00

Thank you. It works!

But actually that's not exactly what I want. in fact, I need the packets sent to the robot when a motion is executed. I performed a walking with the motion editor and I would like to fetch the instructions sent to the robot in order to launch them with the C function TxD80(). and thus I will be able to use the walking I performed with the motion editor in a program I wrote in C language.

Any ideas? Thank you.

Statistics: Posted by freeforall — Mon May 21, 2007 8:45 pm

read data with C

2007-05-21T20:34:22+01:00

Sorry about that I should have mentioned to make sure your in the bootloader program.

Statistics: Posted by Bullit — Mon May 21, 2007 8:34 pm

read data with C

2007-05-21T19:23:55+01:00

freeforall, make sure you are in the bootloader when you use this (hold # and press reset on your robot to get there) - from there 'up e000 10000' should work fine.

Statistics: Posted by hivemind — Mon May 21, 2007 7:23 pm

read data with C

2007-05-21T19:16:56+01:00

I've tried the "up e000 10000" and it's not recognized by the terminal. (it displays "Bad command"). Is "up" the good command?
thx.

Statistics: Posted by freeforall — Mon May 21, 2007 7:16 pm

read data with C

2007-05-21T17:18:43+01:00

With the robot terminal you can type
up e000 10000
select a file to read into, then press mode. When the transfer is complete press end.
The 64k file collected is all 128 motion 512 pages.
You can also use the Behavior Editor to do the same thing.

For content or programming you can reference my post at Tribotix

Statistics: Posted by Bullit — Mon May 21, 2007 5:18 pm

read data with C

2007-05-21T11:43:26+01:00

hello

Is there any function or command (in C or with the terminal) that permits to read data from the flash memory? I'd like to fetch the data corresponding to the walking sequence.

thank you

Statistics: Posted by freeforall — Mon May 21, 2007 11:43 am