New user KH1

[ryann2k1]

I have purchased a KHR1 robot and plan to use c++.
How to build our own program with the original board KH1. Hopefully anyhone can give any solutions.Thanks

[Ray]

Hi,

KHR1 is not a language based controller, it is composed of and programmed with, pose by pose motion.

If you need C++ etc, you need to make your own controller

The controller for Hitec Robonova-I use Basic language, but its rather primitive!

The Bioloid use C as its controller language but, its a pitty that he do not contain robot gyro, which I think, is very important. Because it stabilize the robot during fast motion, e.g. fast walking.....

[robosavvy]

Hi ryann2k1,

You may not need to write embedded code to reach your objectives with the KHR-1. There are a couple of libraries for RCB-1 serial communications. See this link and also browse this forum back in time, you will find a lot of information about programming the KHR-1.

[ryann2k1]

It's good to have your quick responds.I also want to ask about the noisy sound produced when the robot is on. Is that normal to be happened?
Thank you

[Ray]

It is normal,

the servo is driven by power switching.
that means, the motors are controlled by Pulse width modulated pulse.
This type of switching introduce noise over 10kHz in the motor coil and so you can hear.

The advantage of this driving method is that the heat lost used to control the motor is minimized. and hence the heat sink can be reduced or even absent in this type of small power control.

If you are interest, you can read book about Power Electronics.

Well, another reason is due to the latch in the gear. For a fixed servo position, the gear can actually move a bit around its position. This cause an inaccuracy in the digital feedback system and such cause a effect called "limit cycle oscillation"

[ryann2k1]

So there is no problem with the robot then.
Instead of using RCB commander, have you tested the wireless communication with a bluetooth USB adapter ? I am planning to use serial port(DB-9) to usb converter so it can match with my bluetooth USB adapter.Have any idea?

[Ray]

well, DB-9 cannot be used.

DB-9 use bipolar non-return to zero signal, i.e. around +10V and -10V,

but KHR1 & KHR2 use return to zero signal, i.e. 0V and 5V only.

You should buy bluetooth that give RZ signal.

I personally not yet use bluetooth.

[Meltdown]

Bluetooth cracked.
Works great

http://robosavvy.com/modules.php?name=F ... highlight=

[ryann2k1]

Thanks for your contribution. I will try those stuffs working on my KHR1.

[Ray]

I'm sorry, I fogotten KHR1 use a RS232 Cable (which already convert the bipolar signal to RZ signal)


I think the method of Meltdown is to use the original RS232 cable provided by Kondo (in KHR1) and then connected it to the Wireless RS232 bluetooth module.
And so, finally, there is 3 things.
2 RS232 bluetooth modules and 1 RS232 Cable.

In my case, I have a KHR2, It is a USB connector (which finally give 0V and 5V to KHR2 at the servo socket end)

so, any idea, Meltdown, for this USB to RS232 stick,

any wireless module can directly give the final signal to KHR2?

or I should purchase a Kondo RS232 cable and then back to your configuration then?

any idea

[ryann2k1]

Can I use any other Bluetooth Adapter, since I have purchased one with different specifications.
Thanks.

[biz]

Noob for KHR-1 here. I just found that for the mode settings of servos, there are PWM,FREE,SET1,SET2,SET3,L, H.
The PWM and Free i know wats the usage.
But for SET1, SET2, SET3, L, H i cant figure it out. The manual do have much explaination on that, so need some help here.
Thanks.

[Robo1]

Hello

L,H are used when you have something that isn't a servo and what to set the out put to either high 5V or low 0V. you can use this for setting LEDS on and off in a route.

SET1 I could remember of the top of my head but I think they do something similar.

bren