How to read from Sound/Distance Sensor via PC commands

[Raymond]

Hi Pedro,

I confirmed the accel is 26,0,0,0,0,1,1,1 with the prescribed header prefix. The x,y,z responses are byte responses #16, #18 and #20 respectively.

I am still lost in tracking down the MIC msg packet but at least we're making progress. Are the guys busy working on stuff or living in the real world ?? Hold back their pay for a week, wait no one is paid, darn it..

Cheers

Mark

[PedroR]

Hi Raymond

Thanks a lot for all your work. it's amazing. the packet for starting charging was really unexpected but it's really nice. (maybe there's even a packet to read back the battery level...).

You are progressing at an amazing pace!

With regards to Robobuilder, we have worked with a few manufacturers on that side of the world and they have a posture that's much different from us Western habitants.
I've exchange a few emails with one of the guys from Trossen (with regards to a different matter/product) and they also share this opinion.

In my opinion I believe it would be in all their interest to even open source the firmware as this would be completely unique in the Robotics world and would certainly attract a lot more potential buyers who would simply like to play around with electronics and firmware.
The Humanoid Robotics is still a small market but it's now crowded with many humanoid products that simply try to copy each other and never bring anything revolutionary new.

I personally like Robobuilder very much. It seems to strike a very good balance between ease of use<->quality<->pricing<->design and I think there's a lot of potential in it.
It is my opinion that their firmware is very well thought out (I don't know of any other humanoid that can relay all input and output to the PC in such an easy way) but their understanding is different from ours and they choose to be very secret about the inner workings of the RBC...
I can try and ask them for instructions about the MIC but I would not keep my hopes too high as they have systematically discarded all requests of this kind...

I'm having quite a busy weekend but next week I'll try to put together some sample working software / VB classes that wrap this funtionality to start playing some more with it!
I'll also try to update the chart I created with all your new findings about return codes, etc.

I'll keep posting back

Cheers
Pedro.

[Raymond]

Hi Pedro,

It was fun to find this 'backdoor' to further the ease at which users can play with Robobuilder and in kind boost sales I'm certain of this I am in complete agreement the manufactureres secrecy is counter productive to interest from non robotic enthusiasts. As much as I want to find the mic and possibly the battery level feedback I'm very comfortable with the findings thus far to develop a great interface where no mods are required.

I have been developing a master interface to control 3 different robotic brands, some of it duplicates your dll but you know developers like to do their own code lol. I wanted to share some of the functionality to encourage similar worx if you or the team find it of merit:

Robotis
1) Ability to speak to Dynamixel directly with servo packets
2) Ability to talk to Dyamixel through CM5/2+ commands
3) Ability to interact with BCP while running
4) Ability to take snapshots of scenes and motions on the fly to learn how to resolve different scenarios. In essense rewrote the motion builder using read/sync_write/reg_write
5) Aility to reprogram BCP on the fly
6) Design using Xbee Pro/Xtend which has up to 6/30mil rangerespectively


Robobuilder
1) Ability to speak to Wck directly with servo packets
2) Ability to talk to Dyamixel through Robobrick commands (Ongoing)
3) Ability to take snapshots of scenes and motions on the fly to learn how to resolve different scenarios. In essense rewrote the motion builder using sync_write/reg_write
4) Design using Xbee Pro/Xtend which has up to 6/30mil rangerespectively

Kondo-KHR1h
1) Develop PC ICS interface to allow serial connection for XBee hookup
2) About to packet sniffing to rewrite the comand interface from scratch


I really like Robobuuilder for the flexibility and price I quite agree although a sizeable part of ym investmet has been into Robotis as the servos are huge in torque but I'm developing a soft spot for Robobulder. I figured even if I stay with one kit from Robobuilder I'll share my findings fo those wh wish to take it to the limit. Sorry I didnt have the time to make a dll as I only included the functions in my propietary tool, but I'm sure your coding will be more readable and friendly!

Best Regards

Mark

[Raymond]

Hi Pedro,

I finally got the buggers. It is : 19,0,0,0,0,1,1,1.

The response is byte #15 - battery, #17- Mic.

One drawback is that is also fires some speach at the same time (Which is why I dismissed examining this opcode more closely until today) saying 'Moving forward, then moving sideways'. If I cant find a way to disable sound easily by software I will detach the speaker if it becomes a nuisance.

Well now this is sort of done I guess I will go back to doing my job for a bit before I start with KHR.

Remember me when it comes to giving out discounts or Xmas gifts hint hint hint.

Cheers

Mark

[Raymond]

Hi Pedro,

I detached the speaker so I can enjoy checking the mic/battery reading as I'm not much into the sound output. I noticed a curious response change for opcode 19 and that was byte #18 changing from a slightly dynamic 0x29 to a static 0xff. So it would seem that this #18 byte shows the volume setting for the speaker.

Hence for this and any other port that is absent or disconnected leaves an 0xff so if the guys find time to play with the responses keep in mind this assumption/observation.

Cheers

Mark

[pepep]

Hello,

there is any new about get the sensors information with any kind of programming language? Perhaps in the new firmware since May to now ...

EDIT: Sorry, I don't nothing about L# before ... Now, I'm learning a lot!