View Full Version : Workshop about programming Bioloid using C# and C++

02-28-2013, 02:45 AM

I have started publishing a workshop about programming Bioloid using C# and C++ (http://www.softwaresouls.com/softwaresouls/2013/02/25/workshop-programming-a-bioloid-workbench-using-c-and-c/). Some of the new C++ 11 features are used, specially those about concurrency (like thread, mutex)

With this workshop I also publish the source code (https://www.box.com/s/gvj3derncjhhl6bcyc9a) I'm using on my projects (AntOne (http://www.youtube.com/watch?v=mvaMTdlb48E), HexaWheels (http://www.youtube.com/watch?v=Yhv43H5Omfc),...). Previously I've only uploaded only little examples.

Hope you like it :)



It's a practical, hands on, tutorial with steps and simple but clear explanations; with a final "interesting" creation: a robot with some configurable behaviours. There will be three sections:

- Basics: Like communications with serial port and wireless, using Dynamixels, sensors, ... Language features for robotics, like asynchronous communications and threads and... delays!.

- Intermediate: Combination of basics features using sensors (like scanning) and servos (walking motions). For example, scanning with a DMS sensor:


-Advanced: I think this could very funny, using an advanced sensor, like Asus Xtion, to detect certain objects to interact, and create configurable and amusing behaviours.

But I would like a really open workshop, with active participating people in all the aspects of it. Yes, I know that it's really difficult to get people interest and participation, but I like a lot the idea :)[/quote]

02-28-2013, 04:31 PM
This looks great! I'll take a look at it tonight. I am currently using a raspberry pi and the usb2dynamixel myself.

03-01-2013, 01:30 AM
Thanks, I hope it helps you :)

03-07-2013, 10:35 AM
Starting with the C++ version: C++, Bioloid and Raspberry Pi (http://www.softwaresouls.com/softwaresouls/c-programming-workshop-using-bioloid-and-raspberry-pi-draft01)

03-07-2013, 12:52 PM
Here is my phantomX running off a Raspberry pi! :)


03-07-2013, 01:23 PM
Have you published your sorce code? It would be interesting to browse :)

03-07-2013, 03:06 PM
Like Kevin, I have also ported the code over to run on a Raspberry Pi. There is more information over in my thread: http://www.lynxmotion.net/viewtopic.php?f=25&t=8607
Soon I will upload my port of the code up to my github account (kurte). But until then there is code up on that thread. Note: my code is currently not making use of the hardware support for floating point but is instead using the same fixed point math.

Also I put up a real poor quality video showing of my Lynxmotion T-Hex running on this code. Note: Currently I do not have the hardware actually on the T-Hex but instead have an USB cable running to an SSC-32u prototype board.



03-07-2013, 03:24 PM
I have some pointers to clean up and change before I'm done. I would recommend taking a look at Kurt's code. They are very similar but mine is slimmed down specifically to my project and is all float point as well as the ik using the standard math lib. The verdict is still out whether it is of any benefit to the movement.

03-14-2013, 03:25 AM
I have started the C++ posts using QT5, a great framework and tool:

Playing with QT5 and C++: QT Bioloid Workbench (http://softwaresouls.com/softwaresouls/2013/03/14/playing-with-qt-5-c-and-bioloid/)