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CM-900 Series is the embedded board with STM32F103C8 based on 32Bit ARM Cortext-M3 and its circuit diagram and the entire sources are open to public. At this very moment, CM-900 is developed and the prototype models are out in the market, and we plan to introduce newer version with bigger capacity in the future. If you think you can technically contribute to the devel… +more
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Hi everyone I am leader of CM9 circle, developed prototype CM-900 h/w board(CM-900 is one of the CM9 serise) and integrated …+more
Created 2013-04-23 Members 187 Ranking 1 포인트 44,234
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[HELP] Use Roboplus with OpenCM9.04 type C + OpenCM 485 EXP
Writer : krizchong DATE : April 16, 2015 | Hit : 3,356
I am building a robot with OpenCM9.04 type C + OpenCM 485 EXP with RX Dynamixel servos.
I know OpenCM9.04-C can be used with Roboplus software, but Roboplus cannot control RX motor through OpenCM 485 EXP because it need to communicate with OpenCM9.04 with UART3.

I need some help on
1) Is there any way to set the OpenCM9.04-C with Roboplus to control servo through UART3?
or 2) Is there any way to rewire the OpenCM 485 EXP and modify on the OpenCM9.04-C to jump UART1 from OpenCM9.04-C to UART3 of OpenCM 485 EXP?

krizchong

Comment 1

Chi 15-05-20 13:17 Comment
Hello there,

Right now ROBOPLUS Task has no idea about SERIAL 3 and 485EXP, you will need to use the ROBOTIS IDE to do your RX project.

I had used an OpenCM-904C + 485EXP with AX-12s via SERIAL 3 using the ROBOTIS IDE.  Please see this YouTube video:
https://www.youtube.com/watch?v=PJrR-adZTAI (please bear with going through the video, as I was explaining other features of the JoistBot too). 

Below are the relevant IDE statements from that source code shown in the video:

#define DXL_BUS_SERIAL3 3  //Dynamixel on Serial3(USART3)  <-OpenCM 485EXP

Dynamixel Dxl(DXL_BUS_SERIAL3);

// inside void setup()
// Dynamixel 2.0 Protocol -> 0: 9600, 1: 57600, 2: 115200, 3: 1Mbps 
  Dxl.begin(3); 

// then you can use various API calls such as jointMode(), goalPosition()  etc... in setup() or loop() as needed
Dxl.jointMode(ID_NUM_1);
  Dxl.jointMode(ID_NUM_2);
  Dxl.jointMode(ID_NUM_3);
  Dxl.jointMode(ID_NUM_4);
 
  for (i=1; i<=4; i++) {
    Dxl.goalSpeed(i, 255); //initial speeds for gripper servos
  }

Hopefully the control of RX servos is similar to AX-12s.




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