libavr/libbioloid C library for CM5 released!

[kamondelious]

OK, progress!

I put this in dynamixel.c with the appropriate header entry.

Code: Select all

uint8_t *havimo_raw(id_t id) {
  uint8_t packet[] = {id, 3, 0x0F};
  uint16_t count;
  uint8_t len = 0;

  dx_sendpacket(packet, dx_readcallback);
  count = 0;
  read_n = 0;

  if(!read_error && len == read_n)
   return read;
  else
   return NULL;
}

and in my code I have the following :

Code: Select all

void havimo_image(void)
{
  int i = 0;
  uint8_t *data = havimo_raw(HAVIMO);
  for(i=0;i<160*120;i++) {
   printf("%d", data[i]);
  }
}


I am consistently getting a lot of data from my HaViMo now without abnormally long waits.

Next step is to display the image on my screen.

[hamid_m]

Hi kamondelious,

An important question,

where do you save 160*120 bytes of data, while ATMega128 has just 4KB RAM?

Hamid.

[kamondelious]

Good question! That explains why the first few thousand bytes of data look good and the last several thousand are just the same number repeated.

I was already figuring that I need to buffer the throughput, I just haven't gotten to that yet. I am very much open to suggestions on what to do. I do have your example.c which has been of great help so far, I'm sure there is plenty more for me to glean off of it.

So much to learn, but it's half the fun.

[gozita007]

Hi i recently started looking at the example.c and i wanted to slowly move a leg up (then down to sort of simulate walking). I saw the case 'a' and 'q' lines which do the servo[i]position++ or --, and used those as examples to figure out a way to move the legs up and down.

for(int alpha = 0; alpha <= 154; alpha++)
{
s.servo[11].position--;
s.servo[13].position--;
//timer_delay(1);
}

I wanted the servos to be at roughly 45 degree (which is around 154 in servo position). When i tried to add the timer_delay line it doesn't seem to work the way i wanted(which is to slowly increment or decrement the servo position). When i took out the delay, it would just go straight the 45 degree position, shaking the robot and causing it to fall over. Is there a way to slowly increment servo positions with a different timer_delay?

[Suicidal.Banana]

have you tried to do something like
timer_delay(0.5);
just guessing here though

[billyzelsnack]

Hi i recently started looking at the example.c and i wanted to slowly move a leg up (then down to sort of simulate walking). I saw the case 'a' and 'q' lines which do the servo[i]position++ or --, and used those as examples to figure out a way to move the legs up and down.

for(int alpha = 0; alpha <= 154; alpha++)
{
s.servo[11].position--;
s.servo[13].position--;
//timer_delay(1);
}

I wanted the servos to be at roughly 45 degree (which is around 154 in servo position). When i tried to add the timer_delay line it doesn't seem to work the way i wanted(which is to slowly increment or decrement the servo position). When i took out the delay, it would just go straight the 45 degree position, shaking the robot and causing it to fall over. Is there a way to slowly increment servo positions with a different timer_delay?

I don't know anything how the lib works, but it looks like that loop is just setting some member variables over and over again. You probably need to call some sort of update function inside the loop to actually make an update happen. Saying that.. It's probably not what you want to do anyway because servos can't reach their targets instantly and it'll most likely stutter.

[BillB]

gozita007 wrote:

Hi i recently started looking at the example.c and i wanted to slowly move a leg up (then down to sort of simulate walking). I saw the case 'a' and 'q' lines which do the servo[i]position++ or --, and used those as examples to figure out a way to move the legs up and down.

for(int alpha = 0; alpha <= 154; alpha++)
{
s.servo[11].position--;
s.servo[13].position--;
//timer_delay(1);
}

I wanted the servos to be at roughly 45 degree (which is around 154 in servo position). When i tried to add the timer_delay line it doesn't seem to work the way i wanted(which is to slowly increment or decrement the servo position). When i took out the delay, it would just go straight the 45 degree position, shaking the robot and causing it to fall over. Is there a way to slowly increment servo positions with a different timer_delay?

You need to send the new positions to the servos by using dx_set_stance . See below:

Code: Select all

for(int alpha = 0; alpha <= 154; alpha++)
{
s.servo[11].position--;
s.servo[13].position--;
dx_set_stance(&s);
timer_delay(1);
}


That should work.

[bryanjeal]

First, I would like to thank Matt and Stuart for creating this awesome set of tools for programming the CM-5!

I know everything works (not just from reading the responses on the forum, but I have complied the example and the tools on a ubuntu machine); however, I have a problem when I try to "make" the programmer tool on my MacBook (OSX 10.6):

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bash-3.2$ ls
bin                            libbioloid-latest.tgz
doc                             libcompat
example                        libcompat-latest.tgz
libavr                            psx-latest.tgz
libavr-2009-09-17-r1396.tgz   tools
libbioloid

bash-3.2$ cd tools/
bash-3.2$ ls
LICENCE           dxpktchk.c               rom2bin
Makefile           programmer.c
das         robotis_decrypt.c

bash-3.2$ make
gcc        -Wall -g -std=gnu99 -Os -I../libcompat  -lm  programmer.c ../libcompat/compat/console.c ../libcompat/compat/serial.c   -o programmer
programmer.c: In function ‘main’:
programmer.c:112: error: ‘B1000000’ undeclared (first use in this function)
programmer.c:112: error: (Each undeclared identifier is reported only once
programmer.c:112: error: for each function it appears in.)
make: *** [programmer] Error 1
bash-3.2$


If anyone can share some insight that would be appreciated!

-Bryan

[gozita007]

Hi, recently I accidently left the battery pack charging for around 24hrs, and found the cm5 to be quite hot when I discovered my mistake. When I start up the bioloid, it gives me these errors:

14(missing): no response
16(missing): no response
18(missing): no response

The other servos seems to be fine, and i can still upload to it. Is this a problem with the CM5 or the specific servos? Any help would be appreciated.

[RandomMatt]

Code: Select all

programmer.c: In function ‘main’:
programmer.c:112: error: ‘B1000000’ undeclared (first use in this function)


If anyone can share some insight that would be appreciated!

-Bryan

The problem is that B1000000 isn't declared. The real problem is that there is not a standard way in unix (well POSIX) to specify 1Mbit serial ports. You can easily fix the problem on your computer by looking at the man page for cfsetispeed and see what it says you should use - then patch libcompat/compat/serial.h to define B1000000 to that value.

[limor]

Hi RandomMatt and StuartL,
I've been trying out the the libbioloid and have a couple of questions

- I can't find the source code for dx_set_torque_enable(). I've run grep on all files but it doesn't appear anywhere except for in example.c (which compiles, hence it must be somewhere) and in libbioloid.html . where is it hidden ?

- The documentation and code mentions the M1 replacement firmware for the AX12. Can you share this code? i'm really interested in having alternative firmware more geared for advanced PC driven control-loops. Also, if there are any special conversions of the hex file that need to be run before flashing the file, please share. (i saw your file robotis_decrypt.c so i thought maybe that has to do with AX12 firmware encoding ?)

Thanks!
Limor

[RandomMatt]

- I can't find the source code for dx_set_torque_enable(). I've run grep on all files but it doesn't appear anywhere except for in example.c (which compiles, hence it must be somewhere) and in libbioloid.html . where is it hidden ?

Most of the dx_get_* and dx_set_* functions are defined using the DX_RAM macro. Have a look in libbioloid/bioloid/dynamixel_memory.h

The documentation and code mentions the M1 replacement firmware for the AX12. Can you share this code?

I don't want to give it away. It was several months of work.

The M1 firmware requires a PSX-B to authenticate against before it'll let you switch the torque on. I'll stick a copy of the firmware in psx-latest.tgz at somepoint over the next week - but you'll need to get a PSX-B board to use it sensibly.

[limor]

The documentation and code mentions the M1 replacement firmware for the AX12. Can you share this code?

I don't want to give it away. It was several months of work.

The M1 firmware requires a PSX-B to authenticate against before it'll let you switch the torque on. I'll stick a copy of the firmware in psx-latest.tgz at somepoint over the next week - but you'll need to get a PSX-B board to use it sensibly.

I would like to write a very particular firmware for AX12 that will allow me to read/write to the robot servos at 200Hz+.
It would be great is if you could share your knowledge of
(a) the process of taking a Atmega8 hex file and converting/encrypting it to AX12 bootloader flash format (is this required?)
(b) code for working the PWM signals to the MOSFETs
(c) reading the POT and toggling any Atmega8 pin that does something on the AX12

Your work and contribution are very much appreciated.

[limor]

btw: the avr-gcc library that comes with Cygwin doesnt compile the libbioloid and errors on the trig_tables and other things. The one that works is the MinGW compiler (who's community web site has been hijacked by spammers).
You may want to consider changing the documentation text to reflect that as it takes 30 seconds from download to having example.hex if you go the MinGW route but 3 days and no results if you go the Cygwin route

[RandomMatt]

I would like to write a very particular firmware for AX12 that will allow me to read/write to the robot servos at 200Hz+.
It would be great is if you could share your knowledge of
(a) the process of taking a Atmega8 hex file and converting/encrypting it to AX12 bootloader flash format (is this required?)
(b) code for working the PWM signals to the MOSFETs
(c) reading the POT and toggling any Atmega8 pin that does something on the AX12

200Hz isn't a problem - the M1 firmware runs its PID at 1KHz, much faster isn't sensible because of the response time of the motor. The problem is the communications, at 1MBit/s an AX12 board has 160 clock cycles per byte to do its stuff, at 2MBit/s you have 80.

a) there is no encryption - once you have a .bin file it is easy to use tools/programmer to program a servo.
b) and c) read the ATMega8 datasheet - it is all done in hardware... more helpfully, libbioloid has code to read ADCs in hw/cm5/battery.c. And read the documentation for libavr - toggling pins, messing with UARTs is what that does best.