RoboSavvy Forum

OSX Hacks

2007-09-10T21:33:58+01:00

billyzelsnack wrote:
You could probably recompile his code with J# and access the assembly from C#.

Well, my idea is that the program colud run outside Windows too. I will rewrite the program with Java.

Statistics: Posted by siempre.aprendiendo — Mon Sep 10, 2007 9:33 pm

Clarification

2007-09-10T21:22:11+01:00

Just to clarify,
This ability to control the Dynamixels in Java is based on a direct USB -> AX-12 connection. There is no CM5 in the mix.
Also, this is running on OSX, but would run on another *NIX platform as well.
It uses the FTDI D2XX direct drivers not the VCP drivers. The reason for this is that the popular two java serial implementations (javax.comm and rxtx) did not seem to like a 1000000 baud rate.

It is using a JNI wrapper library named jd2xx from Pablo Bleyer Kocik (java.net) (BSD License). The lib was originally written for Windows, so I am sure it is much easier to get it working on that platform.

How I got this to work was a lot of trial and error, I will be putting the steps together in a cohesive format and post that when I get it done.

Day job is getting in the way right now.

Statistics: Posted by BVis — Mon Sep 10, 2007 9:22 pm

OSX Hacks

2007-09-10T21:06:09+01:00

You could probably recompile his code with J# and access the assembly from C#.

Statistics: Posted by billyzelsnack — Mon Sep 10, 2007 9:06 pm

Re: Java Control

2007-09-10T19:49:27+01:00

BVis wrote:
Just a note to all that after many hours of 'learning', I have a working Java environment running on OSX communicating directly to the AX-12 via Jon's (HUVRobotics) USB IO board. (Very cool, thanks Jon)

It's in the early stages, but if there are any others interested in programming the Dynamixels in Java, I would be happy to share the experience and the code.
Peace.

Of course, at least I am very interested. I am working with C# to load a mtn file but I want to work with Java too.

Statistics: Posted by siempre.aprendiendo — Mon Sep 10, 2007 7:49 pm

Re: Java Control

2007-09-10T14:16:14+01:00

BVis wrote:
Just a note to all that after many hours of 'learning', I have a working Java environment running on OSX communicating directly to the AX-12 via Jon's (HUVRobotics) USB IO board. (Very cool, thanks Jon)

Cool, I'm really glad to see people making use of these items...

- Jon

Statistics: Posted by JonHylands — Mon Sep 10, 2007 2:16 pm

Java Control

2007-09-10T08:12:40+01:00

Just a note to all that after many hours of 'learning', I have a working Java environment running on OSX communicating directly to the AX-12 via Jon's (HUVRobotics) USB IO board. (Very cool, thanks Jon)

It's in the early stages, but if there are any others interested in programming the Dynamixels in Java, I would be happy to share the experience and the code.
Peace.

Statistics: Posted by BVis — Mon Sep 10, 2007 8:12 am

Re: CM5 Download

2007-08-13T16:08:32+01:00

BVis wrote:
Has Anyone out there come accross any info on what the Robot Terminal is doing when it communicates with the boot loader on the CM5?
I have tried getting the download working on OSX, but so far its not happening, though, some of it is happening.
I guess I can cross the pins from PC to Mac and see what happens!

I was able to get the download working on Mac OS X using a combination of minicom and cat If this is of interest to you, please have a look here: http://robosavvy.com/forum/viewtopic.php?p=10367#10367 . I would be interested in the answer to your original question (what it's doing exactly) as well.

Statistics: Posted by Sascha77 — Mon Aug 13, 2007 4:08 pm

OSX Hacks

2007-08-07T19:37:28+01:00

Yes, that is what I meant.
I am writing a Java version of Robot Terminal and I can do everything except the download. It is getting the data, but not all of it.
Its probably some bad code on my part, but I wanted to make sure that there is nothing special about the CM5 boot loader.
If it is just expecting the bin, then I am on track.
If you could post the snoop output, that could be helpful.
Thanks!
B'Vis.

Statistics: Posted by BVis — Tue Aug 07, 2007 7:37 pm

OSX Hacks

2007-08-07T11:05:46+01:00

You mean when the Robot Terminal transmits a file via the load command?

You issue the load command, the Robot Terminal just converts the hex file to binary and sends it. You can send a binary with the Robot Terminal also. It shouldn't be hard to create another program that does this.

If you like you can snoop the serial port using hhd's free serial monitor to see what goes over.

Statistics: Posted by Bullit — Tue Aug 07, 2007 11:05 am

CM5 Download

2007-08-07T07:08:38+01:00

Has Anyone out there come accross any info on what the Robot Terminal is doing when it communicates with the boot loader on the CM5?
I have tried getting the download working on OSX, but so far its not happening, though, some of it is happening.
I guess I can cross the pins from PC to Mac and see what happens!

Statistics: Posted by BVis — Tue Aug 07, 2007 7:08 am

USB Boards

2007-08-04T09:43:17+01:00

Jon,
Verry cool. I look forward to plugging one in.
I bought my bioloid from Canada (robotshop.ca) so I am sure that we can get one of these delivered to the states as well.
I will also share the Java libraries with you (and the group) after I get them working. I have not decided on javax.comm or rxtx, but I am leaning toward javax.comm.
The day job is getting in the way right now, but I am sure I will be able to get some slices dedicated to this project in the next couple of months/weeks.
Hope it all goes well this weekend!
B'Vis.

Statistics: Posted by BVis — Sat Aug 04, 2007 9:43 am

OSX Hacks

2007-08-03T23:00:57+01:00

I'll be posting an announcement here once these boards (and my others) are available - hopefully Monday or Tuesday next week.

- Jon

Statistics: Posted by JonHylands — Fri Aug 03, 2007 11:00 pm

USB Boards

2007-08-03T18:32:43+01:00

Jon,
Those look great, how can I get one?
I have already successfully communicated with the FTDI RS232 chip on my Mac, so this might be exactly what I am looking for.

Statistics: Posted by BVis — Fri Aug 03, 2007 6:32 pm

OSX Hacks

2007-08-03T13:18:59+01:00

I have a USB bus interface board that I use:

I have ordered and just got in this week some "real" boards, which I will be populating this weekend and should be available early next week.

Since OSX can interface to an FTDI FT232 chip (http://www.ftdichip.com/Drivers/VCP.htm), you should be able to use this board with no issues. You basically open a virtual serial port at 1.0 Mbps, and you can talk directly to the devices plugged into the board...

- Jon

Statistics: Posted by JonHylands — Fri Aug 03, 2007 1:18 pm

USB

2007-08-03T08:57:49+01:00

Jon, limor,
Thanks for the reply. I read the threads and links.
I was wondering if, instead of building the USB interface, if there is a simple 'off the shelf' way to do this?
I do not mind doing some soldering, but I would spend some bucks to avoid it!

I looked at the UMR232R from Mouser and I almost understand how that would work. But I am new to this particular problem, so I cannot fit all of the pieces together.
If anyone has any info on whether or not a USB2Dynamixel adaptor will work on *NIX, let me know.
Because I write code in the business world in mostly Java (day job), I am working on some libraries in Java that can communicate via USB->RS232 and would really like to get this into the Dynamixel world.
Interfacing the AX-12's to a Netstix is the task after that.
Thanks again for the replies.
This is surely the best robotics forum on the net!
Peace.

Statistics: Posted by BVis — Fri Aug 03, 2007 8:57 am