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Hamed
12-01-2010, 11:24 PM
Hi.
I have a bioloid comprehensive kit to work on a Q-learning project.I've read in some sites which sell this kit that for programming there is a program called "Behaviour Control Program" and experts can program with C. I'm wondering whether anyone here knows how to do that. Before I make a new thread here i have searched this forum but there wasn't a good result.If you know please tell me how to do that exactly!besides I know programming with C.
thanks :veryhappy:

tician
12-02-2010, 04:26 AM
If you are referencing the program I think you are, then you need to upgrade your software. Robotis released a new software suite a while ago called RoboPlus. It is much easier to use and the programming language is based primarily on C. That said, they also provided Embedded C libraries for use by anyone who wants them, but unfortunately they do not seem to have placed the CM-5 library on their support site (It is unlikely you have a CM-510 or CM-700 with a comprehensive kit). If you have a CM-5 and want to use Embedded C, you will need the cd that should be included with you kit named "BioloidCD2" containing a folder named "Bioloid SDK". Within this is another folder named "CM-5", which contains the compiled library, the required header, and a few example programs. In case you do not have the CD, I have uploaded the CM-5 SDK to the Data Center (see the last link of this post).


Old version of Robotis' software (In no way do I recommend this):
http://www.robotis.com/xe/download_en/20614

New RoboPlus software (highly recommended if you are not using Embedded C):
http://www.robotis.com/xe/download_en/29345

If you do happen to have a CM-510 or CM-700 and you want to use Embedded C:
http://support.robotis.com/en/techsupport_eng.htm#software/embeded_c_main.htm

Highly recommend the new zigbee/dynamixel SDKs if you want the controller to communicate with a PC:
http://support.robotis.com/en/techsupport_eng.htm#software/dynamixelsdk.htm
http://support.robotis.com/en/techsupport_eng.htm#software/zigbee_sdk.htm


The CM-5 Embedded C SDK (uploaded much faster than I expected over my cheapo ADSL connection):
http://forums.trossenrobotics.com/datacenter/robotis-34/old-cm-5-embedded-c-sdk-167/

siempre.aprendiendo
12-02-2010, 01:31 PM
Some links have been already pointed by tician

I think it's necessay to have a working knowledge about:

1. C programming
2. CM-5/CM-510 programming
3. Dynamixel protocol


1. C programming
I think C Programming for Microcontrollers (http://www.smileymicros.com/index.php?module=pagemaster&PAGE_user_op=view_page &PAGE_id=26&MMN_position=2:2) is a fast and very practical introduction to C and microcontrolers programming, but I'm a not sure if it an easy way to start learning C.

If you a want a more structured and deeper introduction to the C programming language,C introduction (pdf) (http://cprog.tomsweb.net/cintro.pdf) is a pretty good and free introduction.

But there are a lot:

C Language Tutorial (html) (http://www.physics.drexel.edu/courses/Comp_Phys/General/C_basics/)
How C Programming Works (html) (http://www.howstuffworks.com/c.htm)
Several C programming tutorials (html) (http://www.cprogramming.com/tutorial.html)

and more from Google (http://www.google.es/search?q=c+programming+language+tutorial)

2. CM-5/CM-510 programming
From Robotis support website CM-5/CM-510 programming (http://support.robotis.com/en/software/embeded_c_main.htm)

3. Dynamixel protocol
From Robotis support website Dynamixel actuator (http://support.robotis.com/en/product/dynamixel/ax_series/dxl_ax_actuator.htm)

Two others great sources of information are:
Robosavvy Bioloid information wiki (http://robosavvy.com/site/index.php?Itemid=&id=robotis_bioloid&option=com_op enwiki) (please, feel free to change it if there's a similar page at trossen)
Source code of Stuart&Matt library (http://robosavvy.com/forum/viewtopic.php?t=3215) (please, feel free to change it if there's a similar page at trossen)

I hope it helps :)

jes1510
12-02-2010, 05:14 PM
You may want to look at the Arbotix board sold by Trossen. It it's an Atmega644 based board that is designed specifically for the Robotis servos. You program the board is the same C like language as the Arduino. It also has a cool IK engine for quadruped robots called "NUKE". It's a very cool board.

RobotAtlas
12-02-2010, 06:18 PM
You may want to look at the Arbotix board sold by Trossen. It it's an Atmega644 based board that is designed specifically for the Robotis servos. You program the board is the same C like language as the Arduino. It also has a cool IK engine for quadruped robots called "NUKE". It's a very cool board.

Plus, ArbotiX has a ROS driver. Which would allow your robot to do far, far more than you could ever hope to write yourself.