HaViMo 1.5 and dynamixel sdk

[ggismero]

Hello,

I'm using the dynamixel sdk (http://support.robotis.com/en/) to manage the comunication between the cm-510 and HaViMo, but, for some reason, I'm not being able to capture a frame.

If I only calibrate the HaViMo, then when reading the regions I get all zero's, but if during the calibration, I activate the recognition then, when I read the regions, I get always the last frame procesed so (by the calibration progrma), so I guess that the capture command I'm sending isn't working.

The code is as follow:

Code: Select all

#define HAVIMO_ID 100
...
unsigned int INST_CAPTURE = 0x0E;
...
dxl_set_txpacket_id(HAVIMO_ID);
dxl_set_txpacket_instruction(INST_CAPTURE);
dxl_set_txpacket_length(2);
dxl_tx_packet();

Does anybody used the dynamixel sdk? Can it be that the sdk is filtering the instruction CAPTURE becouse is out of the range of the "normal" instructions for the dynamixel (remeber than the read region command works, and uses the same instruction as READ for dynamixel)??

Thanks,
Gonzalo

[ggismero]

I answer myself.

As I suposed, the dxl_sdk was filtering the packets. I modified the source of the sdk so it accepts also the instruction 0x0E (frame capture), and it worked great.

Thanks,
Gonzalo

[PandaVazquez]

Hi Gonzalo.

I'm having that problem too, How did you solve it?

Thanks.

[ggismero]

Hi,

In http://www.fing.edu.uy/inco/grupos/mina ... ision2010/ you will find my project (havimo 1.5 vision for robotic soccer). Under "Programas" link (and scrolling down) you will find "Custom Dynamixel SDK 1.0" where you can download the modified library of dinamixel, accepting havimo package.

Good luck,
Gonzalo