Order of Response-Packages

[sirhoop]

Hello,

I have a short question. I send ax12-commands from my pc via the serial-port to the cm5 which forwards them to the ax12 by toss-mode.
Can anyone tell me if the order of status messages for ax12-commands is deterministic? In other words when I send

"cmd1, cmd2, cmd3", I will get "rsp1, rsp2, rsp3" and not "rsp2, rsp1, rsp3"?


best regards,
Alex

[StuartL]

I have a short question. I send ax12-commands from my pc via the serial-port to the cm5 which forwards them to the ax12 by toss-mode.
Can anyone tell me if the order of status messages for ax12-commands is deterministic? In other words when I send

"cmd1, cmd2, cmd3", I will get "rsp1, rsp2, rsp3" and not "rsp2, rsp1, rsp3"?

As it's a shared bus you need to be careful about waiting for the responses before sending the next command. Although there is the 500us delay (by default, see the response delay register in the AX12 PDF) before the servo responds.

Therefore you need to do:

"cmd1, wait rsp1, cmd2, wait rsp2" etc.

All of the responses, however, do have the servo ID in them, so if you're sending to different servos and have calibrated that return delay correctly you could send many commands and then get all of the responses in one go. However I'd be anxious about doing something so time critical in toss mode, I'd only give it a go if programming the CM-5 directly.

[sirhoop]

Thanks, perhaps I will give it a try. What I want to do is sending in one thread and receving in another. But since the status package does not contain any information about the command it belongs to (except the ID) I want to save that information in a CommandQueue.
Everytime I receive something I'll put it in a ResponseQueue. And then I would identify the information in the response queue with the command queue.

So if the CommandQueue.get() says GetPresentposition-Request then I know that the 4th and 5th bit of ResponseQueue.get() contain PositionLow and PositionHigh. With the Help of the ID I can then Update the state of my robot.

Right now, I'm pretty busy with other thing but I will let you know when I built something that works.

[jorge ochoa]

what is Toss mode?

[Bullit]

The CM-5 with the bioloid firmware can be put into "toss" mode where the bioloid firmware simply passes all serial input directly to the dynamixel bus. This is convenient for sending dynamixel packets from your PC to the dynamixels.

[Rob]

Note you should look at using different methods for actuators and sensors see http://robosavvy.com/forum/viewtopic.ph ... hlight=rob

[jorge ochoa]

how can i access toss mode?

[StuartL]

how can i access toss mode?

I think you just press 't' in the firmware prompt...

Anyone else confirm?

[siempre.aprendiendo]

Yes, first you should start the manage mode and then press 't'