Writing my own bioloid control program

[Stephanie]

Hello,

I am an undergraduate student. Since the motion editor doesn't allow position values more than 1023 to be written, my project scope is to write a program to operate ex 106 motors and eventually move on to another micro controller. Thanks to Bullit's post, i was able to understand how to write pages from my program :

http://forums.tribotix.info/forum1/76.html

But when i tried playing the page in bioloid motion programmer, it seems it also checks the angle limit and doesn't allow angles more than 1023. So now I wish to write my own program for reading pages from the flash, and then "syncwrite" between positions like the bioloid motion editor. How do i go about it? Can anyone help me with it?

Thanks,
Steph

[petej]

This PDF talks about how the University of Plymouth did it, with formulas, etc...

http://www.swrtec.de/swrtec/research/pu ... -ready.pdf

And there's some other good info on s-curves, etc. here:

http://robosavvy.com/site/index.php?opt ... is_bioloid

Edit: Here's Robotis' comment on the Motion Editor part of the issue:

http://www.robotis.com/zbxe/?mid=qna_en ... _srl=17864

There's also the bioloidcontrol project that you might want to look at...

http://robosavvy.com/forum/viewtopic.php?p=15447

[Stephanie]

Hey,

thanks a lot!!

It was very interesting to read the robotis take on it.. Atleast i m not the only one facing the problem!

Btw.. a funny thing has happened while i was on it.. two of my ex106 motors are not being detected when searched through USB2Dynamixel.. and when they are connected through a com port, they are just giving 00 00 00...

any clue as to what is wrong? do i have to upload its firmware again? if yes, where would i get it from?

Thanks again
Steph