Sending commands to Bioloid from Matlab
Sending commands to Bioloid from Matlab
by Zwolsee
Wed Sep 17, 2008 3:20 am
I'm using the Bioloid robot for my thesis. I have a character recognition program which takes an image of a number 0 - 9 as an input and performs the recognition of that number in Matlab. The program returns the variable 'number' with whatever number from 0 - 9.
I want to somehow send which ever number my Matlab program recognises to the Bioloid robot to perform a clapping motion for as many number of times is stored in the variable 'number'.
Can anyone help? Whats the easiest way of doing this?
Zwolsee
I want to somehow send which ever number my Matlab program recognises to the Bioloid robot to perform a clapping motion for as many number of times is stored in the variable 'number'.
Can anyone help? Whats the easiest way of doing this?
Zwolsee
by StuartL
Wed Sep 17, 2008 10:54 am
Be warned: It's considered very bad form to post the same question many times on a forum. I've deleted your other posts on this subject to leave this thread for people to answer.
I have no idea of the programming capability of MatLab. If it can access serial ports you may find that the USB2Dynamixel product from Robotis achieves what you desire, there are PDFs for it and the AX-12s available from some simple googles.
I have no idea of the programming capability of MatLab. If it can access serial ports you may find that the USB2Dynamixel product from Robotis achieves what you desire, there are PDFs for it and the AX-12s available from some simple googles.
by clusher
Wed Sep 17, 2008 11:06 am
Matlab has the ability to communicate through serial port. google for it, I don't really have any code to show about it.
I suppose the recognition program isn't the issue.
About communicating to bioloid. The USB2Dynamixel allows direct communication from the PC to the bus of AX-12 servos. So all you had to do was to make a matlab program to send orders to AX-12 to move the number of times .
However I would suggest something a little different, since the main goal of the thesis clearly isn't the "clapping" and you may not have all the funds required. You can use the MotionEditor to make a page with the clapping movement (let's suppose its page 4). Then you can have Matlab to send via serial port the command "play 4" the number of times you detect.
Or you can make a small C program for CM5 that receives the number through the serial port and repeats the clapping movement that many times.
I suppose the recognition program isn't the issue.
About communicating to bioloid. The USB2Dynamixel allows direct communication from the PC to the bus of AX-12 servos. So all you had to do was to make a matlab program to send orders to AX-12 to move the number of times .
However I would suggest something a little different, since the main goal of the thesis clearly isn't the "clapping" and you may not have all the funds required. You can use the MotionEditor to make a page with the clapping movement (let's suppose its page 4). Then you can have Matlab to send via serial port the command "play 4" the number of times you detect.
Or you can make a small C program for CM5 that receives the number through the serial port and repeats the clapping movement that many times.
by Zwolsee
Wed Sep 17, 2008 11:57 pm
Well thanks for informing me of bad form. I only did so because I am a little pressed for time at the moment and hoped that someone would see my reply in time. Thank you.
I am not that familiar with C programming the Bioloid. That sounds like a good way to communicate with the bioloid however. I don't have a USB2Dynamixel so I will need to write a short C program to send to the CM5. How would I call the number stored in the variable 'number'? Should I save the number in a text file using matlab then possibly call that file in my C program?
I am not that familiar with C programming the Bioloid. That sounds like a good way to communicate with the bioloid however. I don't have a USB2Dynamixel so I will need to write a short C program to send to the CM5. How would I call the number stored in the variable 'number'? Should I save the number in a text file using matlab then possibly call that file in my C program?
by clusher
Thu Sep 18, 2008 10:24 am
No, not at all.
Matlab can communicate through the serial port, so you can transmit the number directly to the CM5. Maybe you should send a message with a header (like sending "clap x", where x is the number) and have your C program to recognize the header "clap", read "x" and clap that many times.
About programming in C, you should read the documentation and some other posts in the forum. The main idea is to download Win-AVR (a compiler) and use Programmers Notepad to make the code and the makefile. Base the code in the example.c that comes in the Bioloid CD (although it has some errors) and in other examples you may find around here, and the makefile too.
Then you have to use Robot Terminal to upload it to the CM5. And it's a go :p
Matlab can communicate through the serial port, so you can transmit the number directly to the CM5. Maybe you should send a message with a header (like sending "clap x", where x is the number) and have your C program to recognize the header "clap", read "x" and clap that many times.
About programming in C, you should read the documentation and some other posts in the forum. The main idea is to download Win-AVR (a compiler) and use Programmers Notepad to make the code and the makefile. Base the code in the example.c that comes in the Bioloid CD (although it has some errors) and in other examples you may find around here, and the makefile too.
Then you have to use Robot Terminal to upload it to the CM5. And it's a go :p
by Zwolsee
Fri Sep 19, 2008 1:06 am
I'm using a laptop to control the bioloid so I only have a USB port with a USB to serial adapter. Can you still send commands through matlab to the USB port and then the serial adapter handles the rest? And all I need to do is alter the example.c program to call that number from the COM port and manipulate the value stored in the message to clap so many times? Can you call motion pages in the C program at all?
by Zwolsee
Fri Sep 19, 2008 8:54 am
Does anyone know how to use callbacks on Matlab? I have a GUI with a video input being streamed in and ive created a push button to capture an image. I know I have to use getsnapshot somehow but everytime i run it it ouputs:
Undefined function or variable 'vid'.
Error in ==> OCR_GUI>pushbutton1_Callback at 88
char = getsnapshot(vid);
Error in ==> gui_mainfcn at 75
feval(varargin{:});
Error in ==> OCR_GUI at 42
gui_mainfcn(gui_State, varargin{:});
??? Error while evaluating uicontrol Callback.
Can anyone help?
Undefined function or variable 'vid'.
Error in ==> OCR_GUI>pushbutton1_Callback at 88
char = getsnapshot(vid);
Error in ==> gui_mainfcn at 75
feval(varargin{:});
Error in ==> OCR_GUI at 42
gui_mainfcn(gui_State, varargin{:});
??? Error while evaluating uicontrol Callback.
Can anyone help?
by limor
Fri Sep 19, 2008 11:18 am
Hi Zwolsee,
We did quite a lot of work hooking up the Bioloid to Matlab/Simulink at IST in Portugal.
Have you seen the reference in the Bioloid Knowledgebase
There's a thesis by Pedro Teodoro with all the gory details.
We did quite a lot of work hooking up the Bioloid to Matlab/Simulink at IST in Portugal.
Have you seen the reference in the Bioloid Knowledgebase
There's a thesis by Pedro Teodoro with all the gory details.
