bioloid daughter board for gumstix and closed-loop control
by chris...
Sun Nov 30, 2008 12:20 am
i-bot, regarding the controller board, just write some semi-smart controller software with the following features
1. just write the data to the bus that has changed
2. have it programable so it only gets the data you are looking for
its been a very long time, but with a basic example i'm sure i could write assembler code for it
1. just write the data to the bus that has changed
2. have it programable so it only gets the data you are looking for
its been a very long time, but with a basic example i'm sure i could write assembler code for it
by cavalkaf
Tue Jan 06, 2009 5:44 pm
I am currently working on this project at my university (University of Brasília, Brazil) - we are basically turning the bioloid into a research plataform, using the Gumstix, the CM-5 and a few sensors for closed-loop control.
The basic idea we are using is to use the CM-5 as a buffer between the AX-12 and the gumstix - it constantly gets the data from the AX-12's and keeps them in a buffer. Periodicaly, the CM-5 sends the current AX-12 info to the Gumstix (every 7 ms, according to our osciloscope). The Gumstix, which is running Xenomai (real-time linux), uses this information along with the data from our ZMP sensors and the IMU to update the goal positions using the CM-5.
I am planning on posting the project online soon, including the custom code. I plan on having the whole communication subsytem done by the end of january.
The basic idea we are using is to use the CM-5 as a buffer between the AX-12 and the gumstix - it constantly gets the data from the AX-12's and keeps them in a buffer. Periodicaly, the CM-5 sends the current AX-12 info to the Gumstix (every 7 ms, according to our osciloscope). The Gumstix, which is running Xenomai (real-time linux), uses this information along with the data from our ZMP sensors and the IMU to update the goal positions using the CM-5.
I am planning on posting the project online soon, including the custom code. I plan on having the whole communication subsytem done by the end of january.