Control Bioloid robot using usb2dynamixel and LINUX

[lechou]

Dear all,

I must control a bioloid robot using dynamixel and Linux OS. I have followed the intructions in this: http://support.robotis.com/en/software/ ... _linux.htm
to install the driver for usb2dynamixel.

However, I was fail to do that. I did not find the correct Linux source directory of my OS to replace the path of Linux source directory in the template Makefile (at step 3 in the above website).

I also tried to get and install the Linux source from internet using following command:
sudo apt-get install linux-source
and extract the downloaded package. It still did not work.

Please help me to solve this problem. It's very urgent.

Thanks a lot for your help.

[kamondelious]

Hi lechou,

You shouldn't need to install the ftdi driver on your Debian/Ubuntu Linux system. I'm guessing of course that it's not a version that is many years old.

You can probably just skip to the code example section here :
http://support.robotis.com/en/software/dynamixel_sdk/usb2dynamixel/linux/gcc.htm
Specifically the initialize example here :
http://support.robotis.com/en/software/dynamixel_sdk/api_reference/dxl_initialize.htm

To find the device number, run this in a terminal :

Code: Select all

ls -l /dev/ttyUSB*

and use the number that shows in place of *, probably 0.

Hope this helps.

Cheers!

[Djiboun]

Hi

Greetings !

I use Ubuntu 10.10 and have a premium kit.

I confirm there is no need to install any FTDI driver.

When I plug the USB2Dynamixel with the serial cable and I run this in a terminal:

Code: Select all

lsusb | grep FT


I have the result:

Code: Select all

> Bus 002 Device 004: ID 0403:6001 Future Technology Devices International, Ltd FT232 USB-Serial (UART) IC


I've just tested the connexion. I'm not still able to use it

[kamondelious]

Hi Djiboun,

How did you test the connection and how did it fail?

A simple C program test like this should help

Code: Select all

/*
  Purpose : To scan for USB2Dynamixel device.

  Compile : gcc -Wall connection_test.c robotis/lib/libdxl.a -o connection_test
*/

#include <stdio>
#include "robotis/include/dynamixel.h"

int main()
{
  int i, baud;
  baud = 1; /* 1Mbps */

  for(i=0;i<10;i++) {
    printf( "Connection /dev/ttyUSB%d - ", i );
    if( dxl_initialize( i, baud ) == 0 ) {
      printf( "Failure\n" );
    } else {
      printf( "Success\n" );
      break;
    }
  }

  return 0;
}


This assumes that you have the Robotis Dynamixel SDK setup in a path relative to where you compile this code and that you name the file connection_test.c.

Hope this helps.

[MOHIT JINDAL]

The support.robotis site has Visual c++ coding for 3 Dynamixels only. How I can make it to control all 18 Ax12 ?