Sending commands to Bioloid from Matlab

[limor]

Does anyone know if you can call motion pages in the C program?
I need my program to read a number being sent from a serial port and clap the number of times of the character. Does anyone have any example code?

Bioloid Control and also this:
http://robosavvy.com/site/index.php?opt ... or_motions

[Zwolsee]

I don't really understand the protocol for executing a motion page in C. Can anyone help explain how to call a motion page?

[StuartL]

I don't really understand the protocol for executing a motion page in C. Can anyone help explain how to call a motion page?

The less you demonstrate an ability to search the internet, or particularly this forum, the less people are going to be willing to help you.

In this case there's definitely been posts from the guys at Plymouth Uni who have decoded the motion pages and shared their software. I don't remember which thread it was discussed in.

[jorge ochoa]

the only way is using a controller in the cm-5 diferent to default controller, such us robowraper.hex or BLV. and use the functions implemented to manage the pages in the motion file.

the default controller permit the use of the manage mode and do a routine for any movement with de commands go, write, regwrite etc.

[limor]

Not sure if you have referenced this in the thread.
There is the formal Robotis support for Matlab
check out this thread:
http://robosavvy.com/forum/viewtopic.php?t=2726

[teleco07]

hi.
I'm totally new in this area and so i've read most of topics about it in this forum and also others in the internet.
i have a few questions i hope you can answer me or tell me where to get more information:
i'm working on my final proyect with bioloid and i'm suposed to program it via matlab/simulink.i've read all the manuals and user's guides but i still don't have really clear if i must use the usb2dynamixel.
can i program it with matlab using the cm-5??
if i use the usb2dynamixel how do i get the power supply?? do i have to "built" a new cable??
thank you very much for your attention. i gess i'll insist with more bioloid dubts soon

[limor]

hi.
I'm totally new in this area and so i've read most of topics about it in this forum and also others in the internet.
i have a few questions i hope you can answer me or tell me where to get more information:
i'm working on my final proyect with bioloid and i'm suposed to program it via matlab/simulink.i've read all the manuals and user's guides but i still don't have really clear if i must use the usb2dynamixel.
can i program it with matlab using the cm-5??
if i use the usb2dynamixel how do i get the power supply?? do i have to "built" a new cable??
thank you very much for your attention. i gess i'll insist with more bioloid dubts soon

2 mehods
the easy one is with USB2Dynamixel - and yes you will need to power the servos in some way. The easiest way is to link the usb2dynamixel to the fully assembled robot. just find a long wire to connect the usb2dynamixel to one of the access points to the bus on the robot. oh.. and make sure that if you connect the CM5, that it doesnt act as bus master. just write some empty code and program the CM5 to do nothing. or maybe when it boots press some key combination that makes it innoperational.

second method involves using the serial link and the CM5. this method described by Pedro from IST, involves writing code on the CM5 to talk to the bus and writing to the PC over the serial port. the PC runs simulink and talks to the CM5 using some communication protocol of your liking.

[teleco07]

hi,
i'd like to know how can I program mi own PID algoritm with matlab to move the AX-12.
i've tried the followin in a loop:
error0=0
read ref
loop{
read actual position
error=ref-pos
D=Kd*(error-error0) (Kd=Kp*Td/T)
I=I+Ki*error (Ki=Kp*T/Ti)
goalposition=Kp*error+I+D
write goalposition
error0=error}

but I get no good results,
could someone give me a clue to keep on trying?
thanks in advance

[limor]

so i assume you have connected the robot to the PC using USB2Dynamixel ?

The problem may be the control loop cycle.
make sure that the delay response on the servo is set to 0 or 1
the delay response time is one of the configurable parameters of the AX12 and other Dynamixel servos