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How to call a predefined movement from CM5 using python

Bioloid robot kit from Korean company Robotis; CM5 controller block, AX12 servos..
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How to call a predefined movement from CM5 using python

Post by ryanryan » Fri Oct 21, 2011 9:02 am

Post by ryanryan
Fri Oct 21, 2011 9:02 am

Hi guys I've been working on humanoid bioloid as my final year project. I just want to know whether it's there any way to c all a predefined movement from CM5 using python? I've tried to use USB2Dynamixel to move the servos of the legs but it was kinda laggy and it failed. So now i'm trying to download those predefined movements such as "forward walking"/"backward walking" into the CM5 controller and then call the movements in python when necesssary. Hope anyone of you here could help me with this :)
Hi guys I've been working on humanoid bioloid as my final year project. I just want to know whether it's there any way to c all a predefined movement from CM5 using python? I've tried to use USB2Dynamixel to move the servos of the legs but it was kinda laggy and it failed. So now i'm trying to download those predefined movements such as "forward walking"/"backward walking" into the CM5 controller and then call the movements in python when necesssary. Hope anyone of you here could help me with this :)
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Post by i-Bot » Fri Oct 21, 2011 9:52 am

Post by i-Bot
Fri Oct 21, 2011 9:52 am

Is your plan to retain the standard code in the CM5 and download and execute motion pages ? Or do you plan to replace the code int he CM5 with something based on libbioloid or arbotix for instance.

Can the predefined python movements be expressed as motion pages ?
Is your plan to retain the standard code in the CM5 and download and execute motion pages ? Or do you plan to replace the code int he CM5 with something based on libbioloid or arbotix for instance.

Can the predefined python movements be expressed as motion pages ?
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Post by ryanryan » Sat Oct 22, 2011 8:14 am

Post by ryanryan
Sat Oct 22, 2011 8:14 am

hmmm what i'm planning to do is to use motion editor to create a list of movement, say "forward walking" and "backward walking" and download these motions into the CM5. And i'll just call these "forward walking" and "backward walking" in my python code whenever i want the robot to move. Is this way workable?
hmmm what i'm planning to do is to use motion editor to create a list of movement, say "forward walking" and "backward walking" and download these motions into the CM5. And i'll just call these "forward walking" and "backward walking" in my python code whenever i want the robot to move. Is this way workable?
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Post by Fritzoid » Mon Oct 24, 2011 1:00 pm

Post by Fritzoid
Mon Oct 24, 2011 1:00 pm

ryanryan,

First you will need to establish a serial connection between the PC, running python, and your CM-5. Then you can transmit commands to the robot pragmatically just as if you were using Terminal mode in RoboPlus. To play a motion page your program will need to switch the controller into ME (motion executor) mode and issue the PLAY command.

A complete list of controller commands can be found at http://robosavvy.com/Builders/Fritzoid/commands.zip
ryanryan,

First you will need to establish a serial connection between the PC, running python, and your CM-5. Then you can transmit commands to the robot pragmatically just as if you were using Terminal mode in RoboPlus. To play a motion page your program will need to switch the controller into ME (motion executor) mode and issue the PLAY command.

A complete list of controller commands can be found at http://robosavvy.com/Builders/Fritzoid/commands.zip
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Using remote controller comand

Post by wiweet » Wed Nov 09, 2011 12:37 am

Post by wiweet
Wed Nov 09, 2011 12:37 am

for simpler approach, maybe you could use zigbee remote controller protocol via the serial cable. Few things to remember:
1. The zigbee protocol use a unique packet to send a command to CM-5
Packet Format : 0xFF 0x55 LSB ~LSB MSB ~MSB
2.Your robot must operate in remote controlled mode, you write task code that respond to a specific remote controller command to call a predefined motion.

for detailed info on remote control/zig 100 packet you could refers to this

http://www.bioloid.info/tiki/tiki-read_ ... rticleId=3
for simpler approach, maybe you could use zigbee remote controller protocol via the serial cable. Few things to remember:
1. The zigbee protocol use a unique packet to send a command to CM-5
Packet Format : 0xFF 0x55 LSB ~LSB MSB ~MSB
2.Your robot must operate in remote controlled mode, you write task code that respond to a specific remote controller command to call a predefined motion.

for detailed info on remote control/zig 100 packet you could refers to this

http://www.bioloid.info/tiki/tiki-read_ ... rticleId=3
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