Microsoft Robotics Studio for cm5 and dynamixel controll

[Tulkas]

Hey there I am learning MRS for my Bioloid and future bots (of which robotis actuators will be a major part of) I am starting to build up all the services for the bioloid with simple play page jump program functions and then create a service for each of the ax12+ and axs1 then build some dashboards for feedback data then make make a 3d simulation environment then tackle floating point motion. (this may take a few years)
mrs is an amazing platform, put simply it can expand with you as your bot evolves you can then share all relative services across all of your bots
If there is anyone who is interested in sharing knowledge please let me know.
Cheers,
Tulkas

[Rob]

Hey Tulkas,

I am part way there (underlying libraries) if you want to collaborate that would be great. To get in touch: robsmessages at g of the mail dot com. Like you I have a long term outlook on this, but keen to get the services up an running first. Not too interested in the 3D simulation just not the direction I'm going in.

Cheers
Rob

[Tulkas]

That sounds good. I am away for the next week but when I get back I will send you some more info. There is the wiki that comes with mrs so ill check that out further to see if that could be the way to share services and ideas.
Also I do put the 3d simulation environment to the back of the list but my housemate works in visualisation and is starting to use xna. I hope chat to you soon Rob.
Cheers
Luke

[rur]

How is your effort going? I'm quite interested in Bioloid + Microsoft Robotics Studio.

Best,

Greg

[Rob]

Hi rur,

I haven't made any progress on this but some the stuff I am working on could be reused for the base libs implementing the MSRS services. If you want to get involved flick me an email (see address below),

Cheers
Rob

[sirhoop]

Hi,

I am working on getting some MSRS services together for the Biloid for some weeks. By now i have got the SerialPort-communication via TossMode done and built that into a first MSRS Service.

Then I built up another Service, partnered it with the Communication Service and I could move Joints, get PresentPosition and Temperature.

So ist works, but now I have some problems building more abstract Services.
Here is the architecture i thought about.

I want to have I a BioloidJointService for every AX12. The pretty much do all the same, for they use the CM5Toss-Service for communicating with the AX12s. They only differ in there internal ID.
I want to save the ID in the state of a BioloidJointService. Now I have the problem that I want to create 18 Instances of BioloidJointService, but every single one with another id. Has anybody some idea how to do that?

There ist the possibility of defining an initial state, but that will be used for each of the 18 services.

Or do you think I should not create a service for every joint, but encapsulate the information of the joints in one service? Anyhow, I really would like to know if there's a possibility to run several ("slightly different") instances of one service.

best regards,
Alex

[sirhoop]

sorry, forget a scretch of the architecture


------------------- -------------------
LeftArmService ... RightLegService
------------------- -------------------
| \ \ / / |
---------- ---------
|bioJoint1| ... |bioJoint18|
----|------ |---------
----|------------|--
|CM5TossService|
-------------------
__|__ __|___
|ax12| |ax12 |
|id=1 |... |id=18|
|____| |_____|

I know it the picture sucks, but I hope it's clear what I meen

alex

[Rob]

Hi Alex,

I have tried to design wrapping my lower level classes in MSRS services. I am almost 100% certain you can have more than one instance of a service, each instance being configured differently and assigned to a different service variable. I do this but with C# classes. Here's a diagram which loosely describes it. Give me a hotmail address and I'll email you the code.



Nice work so far,
Rob

[Rob]

I guess the Joint Manager should really be a Joint Factory.

Here are my current classes\interfaces ignore the CM5 + Facade methods they need heaps of work.

[Andi]

Hi

I would like to try working with Microsoft Robotics Studio and the Bioloid as well. How can I interface the Bioloid with MSRS?

I tried MSRS a year ago but there was no Bioloid service, just the other common robot platforms (Lego NXT, etc.) and the generic services.

I really want to use C# for programming the Bioloid and I am searching for the best possible way to do so.

Many thanks

iandi

[mucki]

Hi,

any news on MSRS and Bioloid ? Im am quite new to this bot plattform and i am looking forward for an solution to develop in C#.

Have fun,

mucki

[altwolf]

I too would like to try out Bioloid with Robotics Studio...