Help Needed for Bioloid Kit

[ronnie_farrell]

Hi,

Currently I'm using the endless turn function via the Behaviour Control Program to move the robot on wheels. I am wondering if there is any way to create a motion in the robot terminal using the endless turn function to accomplish the same behaviour. I would like to move the actuator 360 degrees in a motion via the robot terminal but right now I am restricted to 300 degrees. Can this be accomplished, and how?

Thanks,
Ronnie Farrell

[kamondelious]

Hi Ronnie,

I highly recommend the PDF version of the manuals. They are easily searchable and freely available for download. I have the paper version of the quickstart guide that came with my kit, but I rarely look in it as the search function is very tedious.

Check these out.
http://robosavvy.com/site/docs/Bioloid/ ... Kit%29.pdf
http://robosavvy.com/site/docs/Bioloid/ ... 0Guide.pdf
http://robosavvy.com/site/docs/Bioloid/ ... ish%29.pdf
http://robosavvy.com/site/docs/Bioloid/ ... ish%29.pdf

This is what you're looking for. (page 17 of the AX-12 manual)

Endless Turn
If both values for the CW Angle Limit and the CCW Angle Limit are set to 0, an Endless Turn mode can be implemented by setting the Goal Speed. This feature can be used for implementing a continuously rotating wheel.

Hope this gets you freewheeling in no time!

Cheers!

[ronnie_farrell]

Hi,

Thanks for your reply. I can not find "Goal Speed". The closest thing I found was "Moving Speed" or "Goal Position" but I don't think it's goal position that we are concerned with here. However, I am not able to change the value of Moving Speed for some reason. I want to set the speed to the highest setting which would be to set Moving Speed-H to 3 and Moving Speed-L to 255.

The code I used in Manage mode to accomplish this is:
[CID:002(0x02)] write 33 3
In my understanding this should change the value of Address 33 which corresponds to Moving Speed-H to 3. However when I do a dump, I see that the value does not change. Am I doing something incorrect?

Thanks,
Ronnie

[kamondelious]

Hi Ronnie,

Yeah that part with the Goal Speed reference in confusing.

You also need to set the CW & CCW angle limits to zero, before trying to move in an endless turn.

Page 18 of the AX-12 manual says

16 bit data registers are indicated with two bytes (L) and (H). Both bytes need to be written at the same time as one instruction packet.

So I'd imagine you need to write to both 32 and 33 appropriately. So set 32 to 0 and 33 to 3 maybe?

Hope this helps.

Cheers!