CM-5
CM-5
by ryann2k1
Tue Jul 24, 2007 12:53 pm
Hi..
I try to develop my C code for walking gaits. But it turns out when I download my code onto CM-5 and run it, my code does not work properly.
The size of my code is 0x5CD5. I try to reduce my code,(some commands are disable) and reduce the size till 0x4749 then I run, my robot walks properly.
I think my code does not exceed the maximum memory usage for the ATmega128.
anyone can help....
cheers,
ryann2k1
I try to develop my C code for walking gaits. But it turns out when I download my code onto CM-5 and run it, my code does not work properly.
The size of my code is 0x5CD5. I try to reduce my code,(some commands are disable) and reduce the size till 0x4749 then I run, my robot walks properly.
I think my code does not exceed the maximum memory usage for the ATmega128.
anyone can help....
cheers,
ryann2k1
by JonHylands
Tue Jul 24, 2007 3:43 pm
Well, personally I would (and do) use something different. For a robot that you want to be fully autonomous, you could get one of the new gumstix verdex single board computers, and use the USB interface a few of us are using to talk to the bus.
The gumstix I use runs at 600 MHz, has 128 MB of RAM, and 32 MB of flash, for $169. You can get a lower model for $129, which has half the RAM and flash, and runs at 400 MHz.
- Jon
The gumstix I use runs at 600 MHz, has 128 MB of RAM, and 32 MB of flash, for $169. You can get a lower model for $129, which has half the RAM and flash, and runs at 400 MHz.
- Jon
by JonHylands
Tue Jul 24, 2007 5:05 pm
The gumstix works great. I am running a server on mine, and sending messages to it from my PC over wifi, so I'm not really controlling it from the gumstix, but I could very easily if I wanted to go that route.
The USB interface is great - you don't even need any special drivers, beyond the normal serial port emulator. I basically open a serial port at 1000000 baud, and can talk to the Bioloid bus directly at full speed.
I have some info on my USB interface here:
http://www.bioloid.info/tiki/tiki-index.php?page=pc+usb
- Jon
The USB interface is great - you don't even need any special drivers, beyond the normal serial port emulator. I basically open a serial port at 1000000 baud, and can talk to the Bioloid bus directly at full speed.
I have some info on my USB interface here:
http://www.bioloid.info/tiki/tiki-index.php?page=pc+usb
- Jon
by ryann2k1
Thu Jul 26, 2007 1:49 pm
instead of having gumstix, woult it be possible to make an online control over CM-5? so CM-5 just need to control the dynamixel while the whole program is run on a computer?
anyone have done this? I really stuck with RAM limitation of CM-5
Thank you.
cheers,
ryann2k1
anyone have done this? I really stuck with RAM limitation of CM-5
Thank you.
cheers,
ryann2k1