Using AX-12A servos

[aether.robotics]

Hi all

Im wondering how you actually connect the ax-12A servos to the to RB-110 as they will have to go through the serial, got the code and read through it, just need to plug them in. Actually the same goes for using the gyro's and accelormeters's from robard. Pics would be great

Thank you

Chris Paton
Aether Robotics

[roboard]

Hi,

you can short TX/RX lines of RB-110's COM3/COM4/COM5 to connect AX-12. please see RB-110 hardware introduction slide for reference (download from http://www.roboard.com/download_ml.htm)

[aether.robotics]

Ahh brilliant, thank you will try out now. The example code from the to oars code page sould just work now then I take it? Hw would I combine 6 of the AX-12A serovs?

Thank you
Chris paton

[aether.robotics]

Tried compiling the code from the example but loads of compile errors, also the build in the file is in .exe format, and I'm running ubuntu.

Any suggestions.

Thanks
Chris paton

[acentw]

Tried compiling the code from the example but loads of compile errors, also the build in the file is in .exe format, and I'm running ubuntu.

Any suggestions.

Thanks
Chris paton

Hi,
I use AX-12 servo on RoBoard recently and run ubuntu(9.0.4). My simple code for AX-12 servo as below:

Code: Select all

#include <stdio.h>
#include <unistd.h>
#include <termios.h>
#include <fcntl.h>

int main(void) {
    unsigned char data[11] = {0xff, 0xff, 0x01, 0x07, 0x03, 0x1e, 0xff, 0x03, 0x00, 0x02, 0xff};
    unsigned char receive1[11] = {0};
    unsigned char receive2[6] = {0};
    int i;
   
    int fp = open("/dev/ttyS2", O_RDWR | O_NOCTTY); // i use com3 (TX/RX short)
    if(fp < 0) return 1;

    termios term;
    term.c_cflag |= CLOCAL | CREAD;
    term.c_cflag &= ~(CSIZE);
    term.c_cflag |= CS8;            // 8 bits
    term.c_cflag &= ~(PARENB); // no parity
    term.c_cflag &= ~(CSTOPB); // 1 stopbit
   
    cfsetospeed (&term, B115200); // output baudrate = 115200
    cfsetispeed (&term, B115200); // input baudrate = 115200
   
    term.c_iflag = IGNPAR; // No detect parity for input data.
    term.c_oflag = 0;
    term.c_lflag = 0;
    term.c_cc[VTIME] = 10; // timeout = 1s
    term.c_cc[VMIN] = 0;
    tcflush(fp, TCIFLUSH);
   
    tcsetattr(fp, TCSANOW, &term);
   
    data[10] = ~(data[2] + data[3] + data[4] + data[5] + data[6] + data[7] + data[8] + data[9]);
   
    write(fp, data, 11);
    read(fp, receive1, 11);
    read(fp, receive2, 6);
   
    printf("Receive data from RoBoard :");
    for(i=0; i<11; i++) printf("%X ", receive1[i]);
    printf("\n");
   
    printf("Receive data from AX-12 Servo :");
    for(i=0; i<6; i++) printf("%X ", receive2[i]);
    printf("\n");
   
    close(fp);
    return 0;
}


The AX-12 servo will go to 0x03ff position with 0x0200 speed.
You can first refer to RoBoard COM3 & COM4 setup tutorial to setup COM3.

[roboard]

We are currently porting Dynamixel sdk and chrisvo's libkondo to RoBoard RB-100/110/050's native COM ports (COM2 & COM3). With these, the RoBoard users will be able to easily access Robotis servos & KONDO ICS3.0 servos without any USB->RS232 device. We will release the binary & source code after 2~3 weeks for everyone's reference.

[i-Bot]

Is it problems with this which are now making the delay to the promised availability of the RB-050 ?

[roboard]

We are currently porting Dynamixel sdk and chrisvo's libkondo to RoBoard RB-100/110/050's native COM ports (COM2 & COM3). ...

Well, with somewhat delay, the ported dynamixel sdk and libkondo4 for RoBoard's native COMs are now available for the purpose as sample codes of RoBoIO 1.8:

http://www.roboard.com/Files/Code/Dynam ... oBoard.zip
http://www.roboard.com/Files/Code/libko ... oBoard.zip