RoboSavvy Forum

C library update

2010-05-10T11:40:11+01:00

Hey that's great froody.

Why don't you store the code in your files area in this forum. Check-out the User Menu box over on the lower left of the screen. The File Manager (new) hot-link will direct you to the management screen. You'll probably have to create a zip archive to store it.

Statistics: Posted by Fritzoid — Mon May 10, 2010 11:40 am

C library update

2010-05-08T18:48:01+01:00

So I've mostly ported Jeorg's motion code to the CM-510 (Bioloid Premium kit) and it seems to work! The code is a bit of a mess as I've thrown away most of the comms stuff and replaced it with useful bits from the Bioloid SDK. I'm also not entirely sure that the motion files are 100% compatible, but just playing through the preinstalled pages in order (starting at 0x1E000) seems to result in some sensible poses.

It only took me a couple of hours work, but if people want, I'd love to put it up on google code or something so everyone can make changes.

I'm also happy to merge it into http://braincell.cx/bioloid/

Anyway, if anyone wants it, let me know and I'll put it up somewhere. In the meantime, more hacking!

Statistics: Posted by froody — Sat May 08, 2010 6:48 pm

C library update

2010-05-05T11:10:35+01:00

Off the top of my head, it's something like this...

Start up terminal mode
Power on robot
Enter 'v'
Enter 'E'

You should get the {[ME]} prompt after you enter the 'E' command.

Enter 'play 6'

The page number, of course, is up to you.

I will verify this sequence later.

Statistics: Posted by Fritzoid — Wed May 05, 2010 11:10 am

C library update

2010-05-04T07:35:42+01:00

I tried doing that on my CM-5 with no success
can you help?

Statistics: Posted by roeiki11 — Tue May 04, 2010 7:35 am

C library update

2010-05-03T12:07:17+01:00

A simple program that sends ASCII commands to the CM-510 firmware can initiate a motion using the PLAY command. Try it in terminal mode.

Statistics: Posted by Fritzoid — Mon May 03, 2010 12:07 pm

C library update

2008-06-17T07:25:29+01:00

Ok, release is now available. However I haven't yet created any example files. Without them it'd be hard work for any of you to figure out what's going on.

Quick straw poll, then, do you want the zip with the library now or wait until I have a spare evening to throw together some examples? Given the Thinktank event is in 10 days this may not be soon...

Statistics: Posted by StuartL — Tue Jun 17, 2008 7:25 am

C library update

2008-06-12T19:17:04+01:00

The part I used from the BLV02 project are the files motion.h and motion.c (the other parts (to communicate with dynamixels I got them from example.c and some other programs I found on the net, and of course some of my own code). Since I don't have a library yet, I mean a .O file I placed everything in a .h file. I will try to place the code this weekend, I'll add some other comments to it, and may be people can modify it for their own needs.

Charles

Statistics: Posted by JavaRN — Thu Jun 12, 2008 7:17 pm

C library update

2008-06-12T18:08:26+01:00

Hi Charles alias JavaRN,

Ofcourse you can publish the modified version of BLV012. Just keep a reference to the original authors and include yourself.

If you point out in the header file somewhere what is different between our and your code it would help to make it clear to others.

If a view people are interested we can set up a open-source project for it.

Joerg

Statistics: Posted by joerg.wolf — Thu Jun 12, 2008 6:08 pm

C library update

2008-06-12T16:07:53+01:00

I downloaded this code (to play motions stored in eeprom) a couple of days ago and played around with it to get working version for my own needs (removing the communication with the PDA etc) if jeorg.wolf gives me permission I can post it on the forum.

Charles

Statistics: Posted by JavaRN — Thu Jun 12, 2008 4:07 pm

C library update

2008-06-12T10:46:50+01:00

1) this is code that runs on the CM5?
2) the CM5 is linked to an analog input gyro ?
3) the code reads from the PDA commands and executes motions there were produced by standard Motion-Editor and are stored on EEPROM?

Hi Limor,

1) The code is for a CM5 correct.
2) There is code for an analog input Gyro, correct, but it is not active, is just something to play around with.
3) You can make it play pages from the Motion editor when you send a command from the PC or PDA to the CM5.
The command is described in "BLC-Protocol.h":

Code:: 0 1 2 3 4 5 6 7 8 9 C C C [ O P1 P2 P3 P4 P5 R R ] M C C

COM stands for "command"
Px stands for "Parameter"

if COM == DO_PAGE then P1 contains the page number
if COM == DO_POSE then P1 contains the page number and P2 the pose number
if COM == STOP_NOW then the robot will freeze imidiately
if COM == STOP_POSE then the robot will stop at the end of the next pose
if COM == STOP_PAGE then the robot will stop at the end of the next page
if COM == VERSION then the robot will reply with a text string [BLV1.11]
(Useful command to see if the robot controller is connected)
if COM == TURN_SERVO then P1 = servono , P2 = HSB Pos , P3 = LSB Pos, P4 = HSB Speed , P5 = LSB Speed

regards,
Joerg

Statistics: Posted by joerg.wolf — Thu Jun 12, 2008 10:46 am

Re: Flash Motion pages playback in C

2008-06-11T23:29:05+01:00

joerg.wolf wrote:
There is a motion playback software I made last year:

it can be downloaded here:

http://www.swrtec.de/swrtec/hurosot/

( click on Download BL Version 0.12 )

If this is any help ?

regards,
Joerg

Thanks for sharing the code!!
there's not a lot of documentation in the code so please correct the following:
1) this is code that runs on the CM5?
2) the CM5 is linked to an analog input gyro ?
3) the code reads from the PDA commands and executes motions there were produced by standard Motion-Editor and are stored on EEPROM?

Statistics: Posted by limor — Wed Jun 11, 2008 11:29 pm

Flash Motion pages playback in C

2008-06-11T19:18:00+01:00

There is a motion playback software I made last year:

it can be downloaded here:

http://www.swrtec.de/swrtec/hurosot/

( click on Download BL Version 0.12 )

If this is any help ?

regards,
Joerg

Statistics: Posted by joerg.wolf — Wed Jun 11, 2008 7:18 pm

C library update

2008-06-11T16:47:12+01:00

Right, the C library is imminently going to be available for release.

Release will initially be under a stock open source licence, will take the form of a 'lib' directory, a Makefile and an example main.c. There will be NO documentation released with the library although obviously I'll help out where I can.

The intention initially is for those with experience in embedded C to be able to use the library without having to troubleshoot all of those horrible interrupt handlers, volatile global variables and double buffering of packets.

Community contribution, patches, documentation and suggestions are very welcome. I will probably set up a distribution list for this.

Right now there are two outstanding issues to be resolved and it'll be released. Unless I think of something else I want in the initial release.

The latest and greatest feature, after finding the servos repeatedly renumbering each other to ID '1', is that on startup it will ping each and every servo ID (yes, that takes time at the moment) and verify that you have the exact configuration you've defined in your application. If your robot is not configured how you expect it will refuse to execute your application, prompting you to fix the configuration first.

Right now there are no steps made towards playing back motion files although this is something I will very willingly incorporate if someone can start reverse engineering/documenting the file format.

Statistics: Posted by StuartL — Wed Jun 11, 2008 4:47 pm

C library update

2008-04-18T07:54:16+01:00

We're getting closer

Statistics: Posted by StuartL — Fri Apr 18, 2008 7:54 am

C library update

2008-04-18T02:38:53+01:00

Awesome! I had just started to peek at the example.c file and it seemed quite hairy. I hope we can see your lib at some point. =)

Statistics: Posted by kennethw — Fri Apr 18, 2008 2:38 am