Problems with Probing Robot

[Bushwhackr]

I recently received a Bioloid Comprehensive kit and I've been building several of the easier robots before tackling the humanoid. I've had no problems at all until I finished the Probing Robot. It didn't work correctly, so I started looking at the bpg file "DemoExample(Probing Robot).bpg."

The problem is in lines 66, 67, and 68 of the program. As originally written, they are:

66. IF (5:8 != 0) THEN LOAD 5:8 <- 0
67. IF (6:8 != 0) THEN LOAD 6:8 <- 0
68. IF (7:8 != 0) THEN LOAD 7:8 <- 0

I noticed that this put dynamixels 5, 6, and 7 in free turn mode instead of joint mode, so I made the following changes:

66. IF (5:8 != 0) THEN LOAD 5:8 <- 1023
67. IF (6:8 != 0) THEN LOAD 6:8 <- 1023
68. IF (7:8 != 0) THEN LOAD 7:8 <- 1023

This caused the robot to work correctly, but the following error message appeared.

ERROR:8100[0115] 005 003 032 030

I made the following changes, and the error message disappeared:

66. IF (5:8 = 0) THEN LOAD 5:8 <- 1023
67. IF (6:8 = 0) THEN LOAD 6:8 <- 1023
68. IF (7:8 = 0) THEN LOAD 7:8 <- 1023

The error message also appeared if I changed to this:

66. LOAD 5:8 <- 1023
67. LOAD 6:6 <- 1023
68. LOAD 7:8 <- 1023

I'm mystified as to why the error appeared and how to interpret it, but it seems to be related to loading 1023 into address 8 of the dynamixel.

There are two other problems with the program as written. The first is in line 36, which is:

36. IF (Watching time > Watching time) THEN JUMP Avoid obstacle

The correct line should be similar to line 25:

36. IF (Watching time > Reference time) THEN JUMP Avoid obstacle

The last problem is in line 28, which is:

28. LOAD Watching time <- 3

I think this should be similar to line 19:

28. LOAD Watching time <- 1

With these changes everything runs smoothly!!

(By the way, I have CM-5 version 1.15 and BCP version 1.27)

[Matt]

Thanks for the tip Bushwhackr. It's very much appreciated when people let others know about these things. It helps everyone in the community.