RoboSavvy Forum

Bioloid - Programming with CM510 USB2Dynamixel and Zigbee

2012-04-13T07:45:39+01:00

Another one fighting with zigbee and CM510!! That's great!! Welcome!! (Bienvenu!!)

I've been struggling with my code for a couple of weeks (with no response, unluckily) and yesterday night I think I found the problem: I think one of my Zig100 no longer works...

The one I have connected to the CM510 works ok (it flashes when the other is off, and stays off when it isn't connected to the power supply), but I think the one I have on the Zig2Serial doesn't work, because whenever I plug it onto the computer, the light stays on. It doesn't matter if the other zig100 is on or off, it says it finds it! I tried to put it on the remote control, justo to find out if the problem was wiht the zig100 or the zig2serial, and it doesn't work as well.

Does anybody know how to fix this problem, or should I order another one right now?

Statistics: Posted by indjpd00 — Fri Apr 13, 2012 7:45 am

Bioloid - Programming with CM510 USB2Dynamixel and Zigbee

2012-04-09T17:35:34+01:00

I didn't find any problem reading sensor values.

Could you post the code that reads the sensor ports?

Statistics: Posted by siempre.aprendiendo — Mon Apr 09, 2012 5:35 pm

Bioloid - Programming with CM510 USB2Dynamixel and Zigbee

2012-04-04T16:59:50+01:00

Thank's

I didn't see vertical lines.

Unfortunately, the value of gyro is always at around 250

When I run my program I have frequently interuption of signal. Have you same problem or have you a solution for this ? Visisbly the program stop in methode SendArray or GetArray...

Statistics: Posted by balo — Wed Apr 04, 2012 4:59 pm

Bioloid - Programming with CM510 USB2Dynamixel and Zigbee

2012-04-01T23:29:44+01:00

Oh, yes, The mark is very subtle!

You should count the little vertical lines under the port!

Example Port 3 and Port 4:

Code:: [.....] [.....] III IIII

Statistics: Posted by siempre.aprendiendo — Sun Apr 01, 2012 11:29 pm

Bioloid - Programming with CM510 USB2Dynamixel and Zigbee

2012-04-01T23:15:25+01:00

I know where I have connected my sensor on my CM510 but I don't know what is the number of the port.

I have my DMS sensor on the left, Gyro sensor axe X bottom left and Gyro sensor axe Y bottom right.

I hope to explain the problem better now

Statistics: Posted by balo — Sun Apr 01, 2012 11:15 pm

Bioloid - Programming with CM510 USB2Dynamixel and Zigbee

2012-04-01T16:45:35+01:00

Sorry, but I don't understand you.

To get a value from a sensor connected to a port you should write:

...
// Now, get value from sensor connected to port 1
int sensorValue=dynamixel.getSensorValue(&serialPort, 1);
...

You should know at which port you connected the sensor, of course

Statistics: Posted by siempre.aprendiendo — Sun Apr 01, 2012 4:45 pm

Bioloid - Programming with CM510 USB2Dynamixel and Zigbee

2012-03-30T11:40:50+01:00

Hello Thank's for your code. It's run and give me information of sensor but I have a problem. I have see that ports 1 to 6 have a value under 25000 therefore I think that the good value but when I don't move my robot some value change around 2 more or less and When I move my robot no value change more that 10. I want to read Gyro sensor but if no value change I dont know what is 2 numbers of port using by Gyro sensor. How know what is the port value of sensor ?

I have 3 sensor value normally, 1 for Dms sensor, 1 for axe X of Gyro Sensor and 1 for axe Y of Gyro Sensor but visibly I have 6 values...

Statistics: Posted by balo — Fri Mar 30, 2012 11:40 am

Bioloid - Programming with CM510 USB2Dynamixel and Zigbee

2012-03-29T14:11:06+01:00

You're welcome! You're its most active user

Um, there's no port mode. This afternoon I will update the previous example with a call to read the port. Hope it will help you.

Updated

Statistics: Posted by siempre.aprendiendo — Thu Mar 29, 2012 2:11 pm

Bioloid - Programming with CM510 USB2Dynamixel and Zigbee

2012-03-29T13:57:04+01:00

I have succes install the firmware. The code for change values of AX-12 run again.

But I don't read sensor values. If I have correctlly understand, I must change the mode in tossMode to PortMode. But I didn't know how change this...

I have try this

Code:: int MotorAx12::PortMode(Serial *serialPort) { // Open Toss Mode byte _InitBuffer[15]; _InitBuffer[0] = 't'; _InitBuffer[1] = '\n'; _InitBuffer[2] = 1; //??? because TossMode this value is 0 int _N = serialPort->SendArray(_InitBuffer, 2); Sleep(200); serialPort->Clear(); Sleep(5); return _N; }

And for read values of sensor, I have tryed this :

Code:: int MotorAx12::GetSensorValue(Serial *serialPort, int port) { int ret = 0; int n = GetSensorValueCommand(port); serialPort->SendArray(buffer,n); Sleep(waitTime); memset(bufferIn,0,BufferSize); n = serialPort->GetArray(bufferIn, 8); short _Position = -1; if (n > 7) _Position = FromHexHLConversion(bufferIn[5], bufferIn[6]); printf("\nid=[i] position=[i] length=[i]\n", port, _Position, n); if (_Position<0> 1023) { ret =- 2; } else{ ret = _Position; } return ret; } int MotorAx12::GetSensorValueCommand( byte port) { int pos = 0; buffer[pos++] = 0xff; // header buffer[pos++] = 0xff; // header buffer[pos++] = 200; // CM510 ID=200 buffer[pos++] = 0x04; // length buffer[pos++] = 0x02; // instruction 2 = read buffer[pos++] = 1; // function = 1 buffer[pos++] = port; // port byte checksum = CheckSumatory(buffer, pos); buffer[pos++] = checksum; return pos; }

This code don't function

Can you explain to me what is the value in buffer "function" because I didn't know ??

Can you give me, the list of different port use in CM510 ?

Thank's a lot for your help !

Statistics: Posted by balo — Thu Mar 29, 2012 1:57 pm

Bioloid - Programming with CM510 USB2Dynamixel and Zigbee

2012-03-27T18:37:51+01:00

Yes.

That firmware basically sends to the Dynamixel bus whatever it receives from the serial bus. And sends back to the serial bus any data it receives from the Dynamixel bus.

It supports queries to the CM-510 ports (this is the reason I developed it), for example, a C# call:

Code:: private static int getSensorValueCommand(byte[] buffer, byte function, byte port) { int pos = 0; buffer[pos++] = 0xff; // header buffer[pos++] = 0xff; // header buffer[pos++] = idCM510; // CM510 ID=200 buffer[pos++] = 0x04; // length buffer[pos++] = 0x02; // instruction 2 = read buffer[pos++] = function; // function = 1, read one port value buffer[pos++] = port; // port byte checksum = Util.checkSumatory(buffer, pos); buffer[pos++] = checksum; return pos; }

Statistics: Posted by siempre.aprendiendo — Tue Mar 27, 2012 6:37 pm

Bioloid - Programming with CM510 USB2Dynamixel and Zigbee

2012-03-27T02:03:33+01:00

If I have correctly understood, if I want to read values of sensors in my robot, I must change the Firmware.

I have 2 questions :
- With this firmware can I use the same code of default firmware for the motor ?

- Can I take again the default firmware when I change them ?

Statistics: Posted by balo — Tue Mar 27, 2012 2:03 am

Bioloid - Programming with CM510 USB2Dynamixel and Zigbee

2012-03-24T22:06:10+01:00

ok

I now read more slowly and I understood that this sis only sendin commands to Dynamixel and Back to PC using zigbee instead of serail cable.

The thing is that zigbee sends only one byte at each time. I will continue checking this interesting topic and making test

Statistics: Posted by Compadre — Sat Mar 24, 2012 10:06 pm

Bioloid - Programming with CM510 USB2Dynamixel and Zigbee

2012-03-24T17:59:50+01:00

if I want to read Gyro Sensor for exemple, I need an other firmware ?

Statistics: Posted by balo — Sat Mar 24, 2012 5:59 pm

Bioloid - Programming with CM510 USB2Dynamixel and Zigbee

2012-03-24T17:19:08+01:00

You don't need to change the firmware to read the Dynamixel attributes. This other firmware is mainly to read the sensors connected to the CM-510 ports.

Before moving the servo the program reads the AX-12 position.

Code:: int pos=dynamixel.getPosition(&serialPort, idAX12); if (pos>250 && pos <1023) dynamixel.setPosition(&serialPort, idAX12, pos-100); else printf ("\nPosition [%i] under 250 or over 1023", pos);

Look in Dynamixel.cpp for the source code.

Statistics: Posted by siempre.aprendiendo — Sat Mar 24, 2012 5:19 pm

Bioloid - Programming with CM510 USB2Dynamixel and Zigbee

2012-03-24T15:56:51+01:00

Thank's. He move

If I want to read the information of motor, I must change de firmware to this or with de default firmware that was possible ?

Statistics: Posted by balo — Sat Mar 24, 2012 3:56 pm