View Full Version : [Project] Robotis CM-900 in Toss Mode and returning sensor readings

06-17-2013, 07:08 AM
Robotis CM-900 in Toss Mode (controlling Dynamixel devices like AX-12 or AX-S1) and resolving queries to connected sensors, like utrasonic HC-SR04.


06-17-2013, 11:20 AM
What is "toss mode" ? "Tossing" is usually what I do when throwing something on the scrap heap...

06-17-2013, 11:28 AM
Toss Mode was a software feature, at least since CM-5, which allows you to use the elements connected to the controller from another device, usually a more powerful computer. What it receives from the USB or serial is sent to the Dynamixel bus, and whatever it receives from Dynamyxel bus is sent to the serial or USB connection.

By the way, the first time I read tosser was from Fidonet Frodo message system, were the messages were "tossed" (sent) to different folders.

06-17-2013, 01:32 PM
I see -- using it as a USB2Dynamixel, pretty much? That's interesting, as I have a CM-900 around here, too.

06-17-2013, 01:46 PM
Yes. Toss Mode works like USB2Dynamixel, but in addition you can get sensor vales.