Bioloid Vision Module

[pikaj00]

Hi,

As it looks like, you are using a HaViMo1.5 with the bioloid premium kit. unfortunately the example program is written for CM5. It may not be compatible with CM510. you should port the program into the we platform using the information and libraries provided in:

http://support.robotis.com/en/

We are also working on providing examples for the new platforms, but these would be released in July.

Best regards,
Hamid.

well here we are in july and the havimo 2 is out are there any expamples available yet? i love this camera but im not a good enough coder to do anything interesting.. just wondering if you are releasing anything?

[Raymond]

Hi Hamid,

I am now able to experiment with the Havimo 2. However there are a few differences in the resolution of the camera. The total # of pixels is now 12288 (128 x 96) rather than 19200 (160 x 120) . Please confirm the # of pixels to get from the raw Sample instruction and if the formula for the pixel array is the same as Havimo 1 & 1.5.

Thanks

[hamid_m]

Hi Raymonnd,

There is absolutely no change in resolution as also in packet format. you may loose data somewhere (due to a buffer overflow or so).

Best regards,
Hamid.

[Raymond]

Hi hamid,

Thank you for the prompt response. I will look and see if I have an overflow (which I doubt) or need to put in more delays to not miss data. It is odd that after many many algorithms it is receiving a maximum of 12288 instead of 19200. But since you just confirmed that nothing has changed I will continue checking. I have 2 x Havimo2's and both behave this way so it cannot be that both units are faulty must be my code The havimo 1 & 1,5 are behaving well with the same code.

I will report back if I find a fix or not.

Cheers

Mark

[Raymond]

Hi Hamid,

I'm using the TOSS command to speak to the Dynamixel bus in this experiment and while it works fine for Havimo 1 & 1.5 with the Keyspan USB/Serial adpater there is an overflow at the hardware buffer level. I obviously cant correct it via software so I must ask if you can recommend any adapters that support higher speed COM port and buffering.

Thanks again

Mark

[Raymond]

Hi Hamid,

I successfully can use the Havimo2 via usb2dynamixel and roboard which can support higher bus speeds but I can say now after trying numerous usb-serial adpaters that the TOSS mode does not work going through the controller(CM5/CM2+/CM7). Please confirm this is the case from your testing.
Secondly I see the price has increased for the unit has any design changes taken place within the last month or this is cost for manufacture has gone up?

Thanks

[Raymond]

Hi Hamid,

If my findings are correct may I make a suggestion that if you can either slow the bus transmission speeds a bit or include a larger cache buffer on the board so the new Havimo2 is compatible with all the hardware the havimo1/1.5 is or a softswitch to toggle between the high/medium transfer speeds. This is of course an issue only affecting the image dump feature but is the core of my software development when using the CM Controllers. It would be a pity to have to use usb2dynamixel or other peripherals to ensure it works with Havimo2, it would be a backward step for me.

Thanks

[Raymond]

Hi Hamid,

Last question today

Is there a register map for the Havimo. Secondly can we shange the operating Baud rate for the Havimo2 to achieve my request in my prior message?

Thanks

Mark

[sahamzah]

Hi,

May I know if Havimo can now work with CM510?
If it is not ready yet, is it possible to do calibration with CM5 but work with CM510 in an application?


Saiful

[Raymond]

Hi sahamzah,

My experience is that both Havimo 1.5 and 2 can work with both CM5 and CM510/700. However the raw image feature in the Havimo 2 overruns the serial buffer and that part currently only works with a direct connection to the Dynamixel Bus in say the USB2Dynamixel and Roboard 101. I have asked for a enhancement to the Havimo 2 to adjust the transmit speed to resolve this overruns challenge. I'm sure I should have a response soon if that is in the cards for the evolution of the Havimo 2.x

Hope this helps

Mark

[inkey]

Hi everybody,
this is my premium with pantilt head and havimo,

/Users/jclag/Desktop/IMG_0202.jpg
/Users/jclag/Desktop/IMG_0201.jpg
/Users/jclag/Desktop/IMG_0200.jpg

today , i need help to drive the head from robotask.
programming in c is the only way ? can we call from robotask a small program in c and how can we do ?

thanks for your help .

[inkey]

Hi everybody,
this is my premium with pantilt head and havimo,

/Users/jclag/Desktop/IMG_0202.jpg
/Users/jclag/Desktop/IMG_0201.jpg
/Users/jclag/Desktop/IMG_0200.jpg

today , i need help to drive the head from robotask.
programming in c is the only way ? can we call from robotask a small program in c and how can we do ?

thanks for your help .

[inkey]

[/Users/jclag/Desktop/IMG_0202.jpg]
[/Users/jclag/Desktop/IMG_0201.jpg]
[/Users/jclag/Desktop/IMG_0200.jpg]

oups !
i think its good now ..............[/img]

[hamid_m]

Hi everybody,

sorry for the late reply, I am just back from my vacations.

Is there a register map for the Havimo. Secondly can we shange the operating Baud rate for the Havimo2 to achieve my request in my prior message?

There is a register map in the camera chip, which is listed in its own data sheet. The details of the communication protocol can be found in http://robosavvy.com/RoboSavvyPages/Support/Hamid/HaViMo2.pdf

If my findings are correct may I make a suggestion that if you can either slow the bus transmission speeds a bit or include a larger cache buffer on the board so the new Havimo2 is compatible with all the hardware the havimo1/1.5 is or a softswitch to toggle between the high/medium transfer speeds. This is of course an issue only affecting the image dump feature but is the core of my software development when using the CM Controllers. It would be a pity to have to use usb2dynamixel or other peripherals to ensure it works with Havimo2, it would be a backward step for me.

as also mentioned in the data sheet there are two different commands for a raw image download, one of which is exactly the same as it was in the former products (1,1.5). there should be no reason of a buffer overflow, but just in the case, one solution can be to increase either horizontal or vertical blank period (see camera register listing). this leads to a lower frame rate as well as a lower data rate.

best regards,
Hamid.

PS: i asked about the price and it is now corrected.

[inkey]

here are the pictures :

http://img227.imageshack.us/g/img0200qs.jpg/