Bioloid I/O interface

Bioloid robot kit from Korean company Robotis; CM5 controller block, AX12 servos..
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45 postsPage 2 of 31, 2, 3

Post by pepperm » Wed Sep 13, 2006 4:17 am

Post by pepperm
Wed Sep 13, 2006 4:17 am

Hi jaho434

I've looked at Limor's code and it looks like is pretty sound. I don't think it is compileable yet though and there isn't anything really executable to test in it. I believe Limor is working on it now.

Mark
Hi jaho434

I've looked at Limor's code and it looks like is pretty sound. I don't think it is compileable yet though and there isn't anything really executable to test in it. I believe Limor is working on it now.

Mark
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Post by jaho434 » Wed Sep 13, 2006 12:20 pm

Post by jaho434
Wed Sep 13, 2006 12:20 pm

Cool.

Nathan has given me a whole lot of his AVR code that he has used before. There's a lot of library functions that could be useful.

I'll have a closer look at them over the weekend and post the useful stuff.

My Bioloid should be here by the weekend! w00t!

EDIT: Anywhere on here where I can upload the files to?

EDIT AGAIN: Right, found the Manage File Uploads link :oops:

Nathan's code can be found here

It has nothing to do with this current project, but should provide some insight or useful code for us. He has given me a brief explanation of some of it, but I will go through it in more detail on the weekend.

Limor: Aparrently ASCOR.c is a good place to start. You will see that an interrupt is generated any time a signal is received on the serial line and then it is processed. I've only had a quick look at it, so if you can make more of it, you're doing better than me!

Hope it helps.


Julian
Cool.

Nathan has given me a whole lot of his AVR code that he has used before. There's a lot of library functions that could be useful.

I'll have a closer look at them over the weekend and post the useful stuff.

My Bioloid should be here by the weekend! w00t!

EDIT: Anywhere on here where I can upload the files to?

EDIT AGAIN: Right, found the Manage File Uploads link :oops:

Nathan's code can be found here

It has nothing to do with this current project, but should provide some insight or useful code for us. He has given me a brief explanation of some of it, but I will go through it in more detail on the weekend.

Limor: Aparrently ASCOR.c is a good place to start. You will see that an interrupt is generated any time a signal is received on the serial line and then it is processed. I've only had a quick look at it, so if you can make more of it, you're doing better than me!

Hope it helps.


Julian
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Post by limor » Wed Sep 13, 2006 3:48 pm

Post by limor
Wed Sep 13, 2006 3:48 pm

hi juho434,

thanks! Briefly looked at the code and there are things there that can be useful for the Atmega8 sensor board project. I will be looking out on the web for some objective-driven high-level libraries hopefully in c++.. that are MCU agnostic. something that will help my code look like this:
Code: Select all
RS485 bus(PF4, PF5, PE6, PE7); // 4-wire SUART constructor
ADC a2d(PE1); // A2D constructor

s.init(_1MBPS); // set serail lines at 1mbps
while(1) {
  p = s.wait_for_master_to_call_me(175); // 175 - my ID
  p.val1 = a2d.get(); // get a single A/D value
  s.send_packet_to_master(p);
}



I'm waiting for peperm's board and will spend the weekend making it do useful things. :lol:
hi juho434,

thanks! Briefly looked at the code and there are things there that can be useful for the Atmega8 sensor board project. I will be looking out on the web for some objective-driven high-level libraries hopefully in c++.. that are MCU agnostic. something that will help my code look like this:
Code: Select all
RS485 bus(PF4, PF5, PE6, PE7); // 4-wire SUART constructor
ADC a2d(PE1); // A2D constructor

s.init(_1MBPS); // set serail lines at 1mbps
while(1) {
  p = s.wait_for_master_to_call_me(175); // 175 - my ID
  p.val1 = a2d.get(); // get a single A/D value
  s.send_packet_to_master(p);
}



I'm waiting for peperm's board and will spend the weekend making it do useful things. :lol:
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Post by jaho434 » Wed Sep 13, 2006 7:55 pm

Post by jaho434
Wed Sep 13, 2006 7:55 pm

The ADC.c file in the include directory of that code has some A/D conversion functions. Again, I haven't had a good look at it...... will do so this weekend.

Maybe Nathan could give us a brief description of the useful code in there?
The ADC.c file in the include directory of that code has some A/D conversion functions. Again, I haven't had a good look at it...... will do so this weekend.

Maybe Nathan could give us a brief description of the useful code in there?
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Post by limor » Fri Sep 15, 2006 12:53 am

Post by limor
Fri Sep 15, 2006 12:53 am

I received pepperm's magic sensor board today.
This must be the shortest hardware/software development cycle in history.

i'll be coding away this weekend.
Thanks!

Image
Image
I received pepperm's magic sensor board today.
This must be the shortest hardware/software development cycle in history.

i'll be coding away this weekend.
Thanks!

Image
Image
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Post by pepperm » Fri Sep 15, 2006 4:37 pm

Post by pepperm
Fri Sep 15, 2006 4:37 pm

Limor

Excellent you got the board. Sorry the connectors are a bit make shift but I can't find the right ones in any of the shops nearby.

Keep me updated as to the coding.

Mark
Limor

Excellent you got the board. Sorry the connectors are a bit make shift but I can't find the right ones in any of the shops nearby.

Keep me updated as to the coding.

Mark
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Post by Pev » Tue Sep 19, 2006 9:44 pm

Post by Pev
Tue Sep 19, 2006 9:44 pm

Blimey this is impressive. Hats off to you Guru types its well beyond me.

Pev
Blimey this is impressive. Hats off to you Guru types its well beyond me.

Pev
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Post by rebuildit » Mon Nov 27, 2006 3:57 am

Post by rebuildit
Mon Nov 27, 2006 3:57 am

I was wondering how this project has progressed so far? I havebeen reading and searching and I would love to be able to add sensors to the Bioloid.

By the way this is one great site!
I was wondering how this project has progressed so far? I havebeen reading and searching and I would love to be able to add sensors to the Bioloid.

By the way this is one great site!
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Post by pepperm » Mon Nov 27, 2006 8:10 pm

Post by pepperm
Mon Nov 27, 2006 8:10 pm

Hi

Thanks for asking rebuildit. Currently, we are trying to get the processors code to work. I believe Limor is developing it in "C" but if I get any time I will give it a go in BASCOM-AVR.

pepperm
Hi

Thanks for asking rebuildit. Currently, we are trying to get the processors code to work. I believe Limor is developing it in "C" but if I get any time I will give it a go in BASCOM-AVR.

pepperm
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Post by rebuildit » Mon Nov 27, 2006 8:22 pm

Post by rebuildit
Mon Nov 27, 2006 8:22 pm

Thanks pepperm.

Me and my sons will be getting a bioloid for christmas. I am looking forward to what this hoby can and will bring!
Thanks pepperm.

Me and my sons will be getting a bioloid for christmas. I am looking forward to what this hoby can and will bring!
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Post by Joe » Mon Nov 27, 2006 11:29 pm

Post by Joe
Mon Nov 27, 2006 11:29 pm

Just putting in my $0.02 of encouragement, as I too would very much like to see this. I don't even have a Bioloid yet, but I sure want to get one, and I want to see Bioloid succeed... things like this will certainly help.

Go, pepprm! Go, Limor! Go go go! :)

Best,
- Joe
Just putting in my $0.02 of encouragement, as I too would very much like to see this. I don't even have a Bioloid yet, but I sure want to get one, and I want to see Bioloid succeed... things like this will certainly help.

Go, pepprm! Go, Limor! Go go go! :)

Best,
- Joe
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Post by limor » Thu Feb 01, 2007 7:54 pm

Post by limor
Thu Feb 01, 2007 7:54 pm

Finally here's some code that works as expected on Pepperm's board.

:P All it does is expect a packet from the CM5 and return a packet.
It also changes the led status when this happens.
It ignores packets that are not destined for him (arbitrary number 69 was elected).

Next step is to connect an analog gyro or accelerometer to the board and respond to something like a "READ 1 1" command.

If you want to have a look at the code for the Atmega8, here it is:
http://robosavvy.com/Builders/limor/Pep ... -works.zip
Finally here's some code that works as expected on Pepperm's board.

:P All it does is expect a packet from the CM5 and return a packet.
It also changes the led status when this happens.
It ignores packets that are not destined for him (arbitrary number 69 was elected).

Next step is to connect an analog gyro or accelerometer to the board and respond to something like a "READ 1 1" command.

If you want to have a look at the code for the Atmega8, here it is:
http://robosavvy.com/Builders/limor/Pep ... -works.zip
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Post by pepperm » Thu Feb 01, 2007 8:32 pm

Post by pepperm
Thu Feb 01, 2007 8:32 pm

Fantastic Limor. Well done.

Mark
Fantastic Limor. Well done.

Mark
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Post by pepperm » Fri Feb 02, 2007 7:40 pm

Post by pepperm
Fri Feb 02, 2007 7:40 pm

Just a thought. Instead of designing a PCB for the production of the Bioloid I/O, how about using a board that is already in production. So far I have fould 2 that could be suitable.

One is the megabitty Mega8 board info here:
http://www.junun.org/MarkIII/Info.jsp?item=57

and the other is the Open Servo board V1.1 info here:
http://www.openservo.com/moin.cgi/Hardware

We would maybe need a daughter board for the 1 wire interface but other than that these boards have things like LEDs, lots of I/O and motor drivers available. I think the megabitty board is best. They are pretty cheap too and have already been developed and manufactured. They have bootloaders too and use the Mega8 processor that we are already developing for.

What are everyones thoughts?

Mark
Just a thought. Instead of designing a PCB for the production of the Bioloid I/O, how about using a board that is already in production. So far I have fould 2 that could be suitable.

One is the megabitty Mega8 board info here:
http://www.junun.org/MarkIII/Info.jsp?item=57

and the other is the Open Servo board V1.1 info here:
http://www.openservo.com/moin.cgi/Hardware

We would maybe need a daughter board for the 1 wire interface but other than that these boards have things like LEDs, lots of I/O and motor drivers available. I think the megabitty board is best. They are pretty cheap too and have already been developed and manufactured. They have bootloaders too and use the Mega8 processor that we are already developing for.

What are everyones thoughts?

Mark
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Post by Pev » Fri Feb 02, 2007 10:35 pm

Post by Pev
Fri Feb 02, 2007 10:35 pm

Mark,

It would certainly simplify things if we only had to worry about the daughter board.

I too like the megabitty board, looks nice and compact and the daughter board could be made to the same form factor and stacked with the processor board.

Pev
Mark,

It would certainly simplify things if we only had to worry about the daughter board.

I too like the megabitty board, looks nice and compact and the daughter board could be made to the same form factor and stacked with the processor board.

Pev
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