RoboSavvy Forum

Sending commands to Bioloid from Matlab

2008-11-16T22:38:53+01:00

so i assume you have connected the robot to the PC using USB2Dynamixel ?

The problem may be the control loop cycle.
make sure that the delay response on the servo is set to 0 or 1
the delay response time is one of the configurable parameters of the AX12 and other Dynamixel servos

Statistics: Posted by limor — Sun Nov 16, 2008 10:38 pm

AX-12 and matlab

2008-11-14T12:27:49+01:00

hi,
i'd like to know how can I program mi own PID algoritm with matlab to move the AX-12.
i've tried the followin in a loop:
error0=0
read ref
loop{
read actual position
error=ref-pos
D=Kd*(error-error0) (Kd=Kp*Td/T)
I=I+Ki*error (Ki=Kp*T/Ti)
goalposition=Kp*error+I+D
write goalposition
error0=error}

but I get no good results,
could someone give me a clue to keep on trying?
thanks in advance

Statistics: Posted by teleco07 — Fri Nov 14, 2008 12:27 pm

Sending commands to Bioloid from Matlab

2008-10-02T11:58:57+01:00

teleco07 wrote:
hi.
I'm totally new in this area and so i've read most of topics about it in this forum and also others in the internet.
i have a few questions i hope you can answer me or tell me where to get more information:
i'm working on my final proyect with bioloid and i'm suposed to program it via matlab/simulink.i've read all the manuals and user's guides but i still don't have really clear if i must use the usb2dynamixel.
can i program it with matlab using the cm-5??
if i use the usb2dynamixel how do i get the power supply?? do i have to "built" a new cable??
thank you very much for your attention. i gess i'll insist with more bioloid dubts soon

2 mehods
the easy one is with USB2Dynamixel - and yes you will need to power the servos in some way. The easiest way is to link the usb2dynamixel to the fully assembled robot. just find a long wire to connect the usb2dynamixel to one of the access points to the bus on the robot. oh.. and make sure that if you connect the CM5, that it doesnt act as bus master. just write some empty code and program the CM5 to do nothing. or maybe when it boots press some key combination that makes it innoperational.

second method involves using the serial link and the CM5. this method described by Pedro from IST, involves writing code on the CM5 to talk to the bus and writing to the PC over the serial port. the PC runs simulink and talks to the CM5 using some communication protocol of your liking.

Statistics: Posted by limor — Thu Oct 02, 2008 11:58 am

Sending commands to Bioloid from Matlab

2008-09-30T11:11:39+01:00

hi.
I'm totally new in this area and so i've read most of topics about it in this forum and also others in the internet.
i have a few questions i hope you can answer me or tell me where to get more information:
i'm working on my final proyect with bioloid and i'm suposed to program it via matlab/simulink.i've read all the manuals and user's guides but i still don't have really clear if i must use the usb2dynamixel.
can i program it with matlab using the cm-5??
if i use the usb2dynamixel how do i get the power supply?? do i have to "built" a new cable??
thank you very much for your attention. i gess i'll insist with more bioloid dubts soon

Statistics: Posted by teleco07 — Tue Sep 30, 2008 11:11 am

Sending commands to Bioloid from Matlab

2008-09-27T19:49:07+01:00

Not sure if you have referenced this in the thread.
There is the formal Robotis support for Matlab
check out this thread:
http://robosavvy.com/forum/viewtopic.php?t=2726

Statistics: Posted by limor — Sat Sep 27, 2008 7:49 pm

Sending commands to Bioloid from Matlab

2008-09-25T21:35:26+01:00

the only way is using a controller in the cm-5 diferent to default controller, such us robowraper.hex or BLV. and use the functions implemented to manage the pages in the motion file.

the default controller permit the use of the manage mode and do a routine for any movement with de commands go, write, regwrite etc.

Statistics: Posted by jorge ochoa — Thu Sep 25, 2008 9:35 pm

Sending commands to Bioloid from Matlab

2008-09-23T20:25:10+01:00

Zwolsee wrote:
I don't really understand the protocol for executing a motion page in C. Can anyone help explain how to call a motion page?

The less you demonstrate an ability to search the internet, or particularly this forum, the less people are going to be willing to help you.

In this case there's definitely been posts from the guys at Plymouth Uni who have decoded the motion pages and shared their software. I don't remember which thread it was discussed in.

Statistics: Posted by StuartL — Tue Sep 23, 2008 8:25 pm

Sending commands to Bioloid from Matlab

2008-09-23T00:32:18+01:00

I don't really understand the protocol for executing a motion page in C. Can anyone help explain how to call a motion page?

Statistics: Posted by Zwolsee — Tue Sep 23, 2008 12:32 am

Sending commands to Bioloid from Matlab

2008-09-22T01:06:27+01:00

Zwolsee wrote:
Does anyone know if you can call motion pages in the C program?
I need my program to read a number being sent from a serial port and clap the number of times of the character. Does anyone have any example code?

Bioloid Control and also this:
http://robosavvy.com/site/index.php?opt ... or_motions

Statistics: Posted by limor — Mon Sep 22, 2008 1:06 am

Sending commands to Bioloid from Matlab

2008-09-21T17:16:10+01:00

in the forum "Bioloid Control (Open Source Project)

", you can find information about it and the source code.

Statistics: Posted by jorge ochoa — Sun Sep 21, 2008 5:16 pm

Sending commands to Bioloid from Matlab

2008-09-21T08:47:43+01:00

Does anyone know if you can call motion pages in the C program?
I need my program to read a number being sent from a serial port and clap the number of times of the character. Does anyone have any example code?

Statistics: Posted by Zwolsee — Sun Sep 21, 2008 8:47 am

Sending commands to Bioloid from Matlab

2008-09-20T03:40:02+01:00

Yes I have thanks for that

Statistics: Posted by Zwolsee — Sat Sep 20, 2008 3:40 am

Sending commands to Bioloid from Matlab

2008-09-19T11:18:52+01:00

Hi Zwolsee,

We did quite a lot of work hooking up the Bioloid to Matlab/Simulink at IST in Portugal.
Have you seen the reference in the Bioloid Knowledgebase

There's a thesis by Pedro Teodoro with all the gory details.

Statistics: Posted by limor — Fri Sep 19, 2008 11:18 am

Sending commands to Bioloid from Matlab

2008-09-19T08:54:30+01:00

Does anyone know how to use callbacks on Matlab? I have a GUI with a video input being streamed in and ive created a push button to capture an image. I know I have to use getsnapshot somehow but everytime i run it it ouputs:
Undefined function or variable 'vid'.

Error in ==> OCR_GUI>pushbutton1_Callback at 88
char = getsnapshot(vid);

Error in ==> gui_mainfcn at 75
feval(varargin{:});

Error in ==> OCR_GUI at 42
gui_mainfcn(gui_State, varargin{:});

??? Error while evaluating uicontrol Callback.

Can anyone help?

Statistics: Posted by Zwolsee — Fri Sep 19, 2008 8:54 am

Sending commands to Bioloid from Matlab

2008-09-19T04:36:51+01:00

http://www.google.com/search?hl=en&q=wr ... h&aq=f&oq=

Statistics: Posted by billyzelsnack — Fri Sep 19, 2008 4:36 am