Bioloid boomerang controller examples

[billyzelsnack]

I bought another Bioloid comprehensive kit off of ebay recently ( now I have 3 players for robocup! ) It also came with a boomerang controller, but no documentation. I could write up something to test it, but it'd be much more fun to use a pre-existing BCP example file to test with the humanoid. I searched around, but failed to find anything. Any one know where I can find something?

[billyzelsnack]

I guess I should add that it is a RC-100Z and there is also a zigbee in the CM-5.

[helishaun]

You should take a look at page 105 in the Bioloid User's Guide for examples of using the Behavior Control Program to wirelessly control the bioloid.

[billyzelsnack]

Hi Shaun.

Thanks for the heads up. I didn't know the zigbee stuff was mentioned in the manuals.

It took a bit of screwing around, but I got it working. I ended up sticking the zigbee in another CM-5 so I could verify ids. The whole way the id's work makes perfect sense after you know how it works. Too bad the docs are kinda sketchy on it all.

Also... Looks like if you have your CM-5 plugged into your computer it messes with the transmit and/or receive. So as long as its not plugged it works.. Plug it in.. Stops working.. Crazy.

btw. You would not still happen to have the BCP or Task and motion you used in your youtube demo?

[billyzelsnack]

For other people that might be having problems..

Each zigbee has an ID and a remote ID. The ID is built in and the remote ID is something that you can set. After you set it it will remember it after you power off.

Each zigbee remote ID needs to know the ID of the other. This means you might have to swap them both into the CM-5 to verify they are pointing at each other.

btw. Roboplus Manager will show you these ID's and let you set the remote ID if you click on it. If you have only one CM-* you can give turns to each of your zigbees to make sure they are set properly.

AND VERY IMPORTANT.. When you are testing unplug the cable from the CM-5 to your computer since it messes with the transmit and/or receive. Mine was probably working the entire time and I never knew it because I was testing with the cable plugged in so I could print out values. Just test it by setting the AUX LED.

Here are the Tasks I used to test mine.

http://www.mediafire.com/?sharekey=e01a472e7c305c519bf8d6369220dcab21acba75dd4f68fce04f31aacf568dab

rc100test works between two CM-5's and hitting U and D to toggle the AUX light.
rc100test2 works between a CM-5 and a boomerang and holding down one of the buttons ( I don't remember which one ) to toggle the AUX light.

One more thing.. Make sure the zigbee in your boomerang has not become loose. It's pretty easy to knock it loose when putting in the batteries. If it is loose the control behaves in IR mode.

[billyzelsnack]

http://www.mediafire.com/?sharekey=e01a472e7c305c519bf8d6369220dcab21acba75dd4f68fce04f31aacf568dab

Here's a simple walk Roboplus Task for the default comprehensive humanoid. U/D for forward/backward. L/R for turn left/right.

[billyzelsnack]