The CM5 has a firmware that keeps running in loop refreshing the servos data, checking PC new incoming data to servos and retrieving the new servo data to be sent to PC, each cycle. To do this, CM5 have three stages since it boots up. Blog at WordPress. Actuatedcharacter's Blog Low cost legged robot running and jumping. Author Archive. CM5 Update for Jacobian communications structure February 2, In way to provide the users with a faster and more stable communication, some improvements have been done in the CM5 firmware.
This includes, communication auto-restart, if the servos communication gets lost, will be automatically restarted in way to get the structure communicating non-stop, along with the current server loop start.
Jacobian juggernaut April 6, The first juggernaut pics of the assembled Jacobian. The whole system is composed by The PC with the Matlab client and control algorithem, communicate with the Roboard The roboard have a Matlab host code to communicate with PC, and uses an Sfunction to interface the CM5 and the IMU The IMU broadcast yaw, pitch and roll data at Hz The CM5 reply packets with the servos positions when the roboard request it, and send to servos the new pwm values the roboard send The CM5 also have a vector with all the servos positions, that is updated every 3 ms.
The CM5 should have the following code running. Just them compile and run the linux example from the roboard Servos Code is in the previous post CM5 Code. Installing wireless VT on roboard February 28, The installation of the wireless card in the roboard is as in the following 5 steps. Getting the linux tools Get the bzip2 apt-get install bzip2 Get the make apt-get install bzip2 Get the gcc apt-get install gcc Get the unrar apt-get install unrar-free Get the wireless-tools apt-get istall wireless-tools Get the wpa supplicant apt-get install wpasupplicant 2 Installing the compatible version of linux To install the wireless card VT on the roboard we need first do install a linux 2.
The loopback network interface auto lo iface lo inet loopback The primary network interface auto eth0 allow-hotplug eth0 iface eth0 inet dhcp iface eth0 inet static address Installing Debian on Roboard its now a bit easier! February 17, Installing debian on roboard its now a bit easier! Its possible to burn the image to a pen, in linux or in windows, ahead follow the instruction. To build these images, we have used the debian 6. After burning the image to the pendrive, If you pretend to use the version 2.
Then remove the Pendrive. AX12 Custom Firmware Version 1. Directly controlling the PWM of the Jacobian 10 servos with the roboard With this firmware we could reach the fps with 10 servos frames, for pwm control. The interfacing GUI is a simple example of how to interface the servo. Any modification, bug report or suggestion is wellcome to be commented.
From there you can recover your dynamixel servo and if need just reprogram the parameters. Custom AX12 Servo Firmware December 11, As we need to improve not just the communication speed by changing the communication protocol, but also to adapt the servo data format and the servo data inputs to our control type.
Speed Control when moving between target position ; Position Control once reaching target position Communication speed and protocol The first version will have mapping of servos on bus per each servo, with this we can make the servos send the position and speed one after the other without needing to send a data request first. Data format and the servo data inputs The data packet is similar to robotis packets because we do need a checksum since we have encountered odd noise on the bus.
Roboard and CM5 communication A detailed explanation to the structure of the CM5 code and the data flux between the servos and the roboard, can be found on the previouse post Communication protocol between PC and CM5. CM5 code to interface Roboard and Servos October 30, The code to interface the Servos and the Roboard has already been explained on previouse post, so as brief explanation, this code colects the data from the servos, compose a pack with it and send it to the Roboard.
Here is the first working version of the CM5 firmware. See full article for the Code to Interface with the Servos more…. To get the principal space position the IMU is once placed in the head of our Jacobian1 robot. Regardless of the transmission mode and rate, internal angle estimates are maintained at over. The CHR-6dm simplifies integration by providing a number of automatic calibration routines,.
All calibration routines. Testing and evaluating Servos performance October 27, With the CM5 firmware ready, its now time to make a little program on the roboard, to test the servos.
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