Many questions ...
Many questions ...
by XTinX
Sun Apr 05, 2009 5:47 pm
Hi everyone,
I m going to purchase a bioloid beginner kit for little project and I had a few questions:
- what's the max range of the IR sensor ? what's the aperture angle of this sensor ?
- where can I find a I/O board to plug a sharp GP2Y0A02YK (ir sensor) in my bioloid ?
- can I program the cm5 using real time programmation with tasks and priorities such as in NXTosek (real time os for lego mindstorm) ?
- to have even better distance measures, I was wondering if it was possible to plug a laser rangefinder ?
Thx for your answers
I m going to purchase a bioloid beginner kit for little project and I had a few questions:
- what's the max range of the IR sensor ? what's the aperture angle of this sensor ?
- where can I find a I/O board to plug a sharp GP2Y0A02YK (ir sensor) in my bioloid ?
- can I program the cm5 using real time programmation with tasks and priorities such as in NXTosek (real time os for lego mindstorm) ?
- to have even better distance measures, I was wondering if it was possible to plug a laser rangefinder ?
Thx for your answers
Last edited by XTinX on Mon Apr 06, 2009 3:18 pm, edited 1 time in total.
by XTinX
Mon Apr 06, 2009 3:06 pm
Here's some details concerning my project :
the goal is to drive a bioloid car (via wireless connection) while computing the position (coordinates & angle) of the robot. The position is computed with speed data accumulated over time. In order to have a very precise position, the time elapsed between 2 speed measures has to be constant and very small (50-100 ms).
I programmed this application on lego nxt using NXTosek OS (based on rate monotonic task scheduling). So i had 2 tasks :
- a "recieve task" listening for servo commands and sending them to actuators
- a "speed acquisition task" measuring the instant speeds of wheels and computing position.
How can I perform the same application on a cm5 board ? I guess I should set an interruption every 50 or 100 ms to execute speed acquisition handler while the other task is executed in the main program. Am I right ? I don't have any robotis hardware yet but I would like to design the software architecture or at least, understand how my program should run.
Anybody help
EDIT: by the way, if anyone had a c file with interrupt exemples (declaration etc ...) please let me know !
the goal is to drive a bioloid car (via wireless connection) while computing the position (coordinates & angle) of the robot. The position is computed with speed data accumulated over time. In order to have a very precise position, the time elapsed between 2 speed measures has to be constant and very small (50-100 ms).
I programmed this application on lego nxt using NXTosek OS (based on rate monotonic task scheduling). So i had 2 tasks :
- a "recieve task" listening for servo commands and sending them to actuators
- a "speed acquisition task" measuring the instant speeds of wheels and computing position.
How can I perform the same application on a cm5 board ? I guess I should set an interruption every 50 or 100 ms to execute speed acquisition handler while the other task is executed in the main program. Am I right ? I don't have any robotis hardware yet but I would like to design the software architecture or at least, understand how my program should run.
Anybody help
EDIT: by the way, if anyone had a c file with interrupt exemples (declaration etc ...) please let me know !
by srobot
Fri Apr 10, 2009 2:54 am
XTinX wrote:where can I find a I/O board to plug a sharp GP2Y0A02YK (ir sensor) in my bioloid ?
I know that Jon Hylands was selling I/O boards for the Bioloid, although I think he stopped selling in September 2008. Anyway, his boards are very good and it might be worth shooting him an email to find out.
http://huvrobotics.com/
Search the forums here to find instructions to build an I/O board.
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RIBO Labs, Springing Robotic Development to a New Level
RIBO Labs, Springing Robotic Development to a New Level
by XTinX
Fri Apr 10, 2009 9:17 am
Thx srobot ! 
I think I'm gonna use urbi to program my application because it's high level language easy to code that enables parallelism calculation. However I must confess I'd rather use an embedded solution. As urbi can't run on cm-5, urbi server is executed on a pc so one has to purchase a zigbee module to provide wireless communication, and it's that much expensive
So if anyone has informations about a futur multi task embedded os for bioloid let me know !
I think I'm gonna use urbi to program my application because it's high level language easy to code that enables parallelism calculation. However I must confess I'd rather use an embedded solution. As urbi can't run on cm-5, urbi server is executed on a pc so one has to purchase a zigbee module to provide wireless communication, and it's that much expensive
So if anyone has informations about a futur multi task embedded os for bioloid let me know !
by RandomMatt
Fri Apr 10, 2009 10:41 pm
This would be easy (for given values of easy) to do using libbioloid ( http://braincell.cx/bioloid/dist/ ).
If you choose not to use libbioloid, then I suggest you still have a look around it to see how to declare interrupt handlers / drive timers / etc.
(disclaimer... I wrote most of libbioloid - so you may want to take my words with a pinch of salt).
If you choose not to use libbioloid, then I suggest you still have a look around it to see how to declare interrupt handlers / drive timers / etc.
(disclaimer... I wrote most of libbioloid - so you may want to take my words with a pinch of salt).
by limor
Sat Apr 11, 2009 3:17 pm
there were reports of Arduino serving as the bioloid board.
ensure the voltage regulator on the Arduino can handle up to 12V.
the only issue was the RX/TX have to be shorted and software has to be in place to ensure that they when TX is sending, RX is not reading and vice versa.
ensure the voltage regulator on the Arduino can handle up to 12V.
the only issue was the RX/TX have to be shorted and software has to be in place to ensure that they when TX is sending, RX is not reading and vice versa.
