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Thread: Bioloid Library for OpenCM 9.04

  1. Bioloid Library for OpenCM 9.04

    I'm trying to port some Arduino code that I'm been using to run a turret made from 2 x AX12As from a Arbotix board to an OpenCM 9.04. I'm using a Adruino 1.6.13 sketch with an include for the BioloidController.h. I'm using the bioloid command for the interpolation and readPose. It works fine with the Arbotix but fails to compile when I select the OpenCm9.04 Board. I've pasted the errors below.
    Is there a special Bioloid library for the OpenCM9.04? I can't see any on the Robotis web site.

    Also I'm also wanting to use I2C on the OpenCM 9.04 and see that there is a I2Cdev library for hardware support. Do I just include Wire.h and I2Cdev.h in the sketch and then use the usual Wire commands?




    Arduino: 1.6.13 (Windows 10), Board: "OpenCM9.04 Board, OpenCM Bootloader"


    C:\Program Files (x86)\Arduino\arduino-builder -dump-prefs -logger=machine -hardware C:\Program Files (x86)\Arduino\hardware -hardware C:\Users\john\AppData\Local\Arduino15\packages -hardware E:\Documents\Arduino\hardware -tools C:\Program Files (x86)\Arduino\tools-builder -tools C:\Program Files (x86)\Arduino\hardware\tools\avr -tools C:\Users\john\AppData\Local\Arduino15\packages -built-in-libraries C:\Program Files (x86)\Arduino\libraries -libraries E:\Documents\Arduino\libraries -fqbn=OpenCM904:OpenCM904:OpenCM904:upload_method=U ploadMethod -ide-version=10613 -build-path D:\Arduino-Output -warnings=none -prefs=build.warn_data_percentage=75 -prefs=runtime.tools.opencm_gcc.path=C:\Users\john\ AppData\Local\Arduino15\packages\OpenCM904\tools\o pencm_gcc\5.4.0-2016q2 -prefs=runtime.tools.opencm_tools.path=C:\Users\joh n\AppData\Local\Arduino15\packages\OpenCM904\tools \opencm_tools\0.0.2 -verbose E:\Documents\Arduino\ArbotiX Sketches\TurretScan_with_Lidar\TurretScan_Lidar_IM U_01\TurretScan_Lidar_IMU_01.ino
    C:\Program Files (x86)\Arduino\arduino-builder -compile -logger=machine -hardware C:\Program Files (x86)\Arduino\hardware -hardware C:\Users\john\AppData\Local\Arduino15\packages -hardware E:\Documents\Arduino\hardware -tools C:\Program Files (x86)\Arduino\tools-builder -tools C:\Program Files (x86)\Arduino\hardware\tools\avr -tools C:\Users\john\AppData\Local\Arduino15\packages -built-in-libraries C:\Program Files (x86)\Arduino\libraries -libraries E:\Documents\Arduino\libraries -fqbn=OpenCM904:OpenCM904:OpenCM904:upload_method=U ploadMethod -ide-version=10613 -build-path D:\Arduino-Output -warnings=none -prefs=build.warn_data_percentage=75 -prefs=runtime.tools.opencm_gcc.path=C:\Users\john\ AppData\Local\Arduino15\packages\OpenCM904\tools\o pencm_gcc\5.4.0-2016q2 -prefs=runtime.tools.opencm_tools.path=C:\Users\joh n\AppData\Local\Arduino15\packages\OpenCM904\tools \opencm_tools\0.0.2 -verbose E:\Documents\Arduino\ArbotiX Sketches\TurretScan_with_Lidar\TurretScan_Lidar_IM U_01\TurretScan_Lidar_IMU_01.ino
    Using board 'OpenCM904' from platform in folder: C:\Users\john\AppData\Local\Arduino15\packages\Ope nCM904\hardware\OpenCM904\1.4.2
    Using core 'arduino' from platform in folder: C:\Users\john\AppData\Local\Arduino15\packages\Ope nCM904\hardware\OpenCM904\1.4.2
    Build options changed, rebuilding all
    Detecting libraries used...
    "C:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\tools\opencm_gcc\5.4.0-2016q2/bin/arm-none-eabi-g++" -c -g -O2 -std=gnu++11 -Wno-write-strings -Wall -ffunction-sections -fdata-sections -fno-rtti -fno-exceptions -DARM_MATH_CM3 -DUSE_HAL_DRIVER -DBOARD_OpenCM904 -w -x c++ -E -CC -mcpu=cortex-m3 -DF_CPU=72000000L -DARDUINO=10613 -DARDUINO_OpenCM904 -DARDUINO_ARCH_OPENCM904 -mthumb -DSTM32F103xB -D__OPENCM904__ "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm/include" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/driver" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/usb_cdc" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/lib/STM32F1xx_HAL_Driver/Inc/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\cores\arduino" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4" "D:\Arduino-Output\sketch\TurretScan_Lidar_IMU_01.ino.cpp" -o "nul"
    "C:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\tools\opencm_gcc\5.4.0-2016q2/bin/arm-none-eabi-g++" -c -g -O2 -std=gnu++11 -Wno-write-strings -Wall -ffunction-sections -fdata-sections -fno-rtti -fno-exceptions -DARM_MATH_CM3 -DUSE_HAL_DRIVER -DBOARD_OpenCM904 -w -x c++ -E -CC -mcpu=cortex-m3 -DF_CPU=72000000L -DARDUINO=10613 -DARDUINO_OpenCM904 -DARDUINO_ARCH_OPENCM904 -mthumb -DSTM32F103xB -D__OPENCM904__ "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm/include" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/driver" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/usb_cdc" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/lib/STM32F1xx_HAL_Driver/Inc/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\cores\arduino" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4" "-IE:\Documents\Arduino\libraries\Bioloid" "D:\Arduino-Output\sketch\TurretScan_Lidar_IMU_01.ino.cpp" -o "nul"
    "C:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\tools\opencm_gcc\5.4.0-2016q2/bin/arm-none-eabi-g++" -c -g -O2 -std=gnu++11 -Wno-write-strings -Wall -ffunction-sections -fdata-sections -fno-rtti -fno-exceptions -DARM_MATH_CM3 -DUSE_HAL_DRIVER -DBOARD_OpenCM904 -w -x c++ -E -CC -mcpu=cortex-m3 -DF_CPU=72000000L -DARDUINO=10613 -DARDUINO_OpenCM904 -DARDUINO_ARCH_OPENCM904 -mthumb -DSTM32F103xB -D__OPENCM904__ "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm/include" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/driver" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/usb_cdc" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/lib/STM32F1xx_HAL_Driver/Inc/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\cores\arduino" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4" "-IE:\Documents\Arduino\libraries\Bioloid" "-IE:\Documents\Arduino\libraries\I2Cdev" "D:\Arduino-Output\sketch\TurretScan_Lidar_IMU_01.ino.cpp" -o "nul"
    "C:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\tools\opencm_gcc\5.4.0-2016q2/bin/arm-none-eabi-g++" -c -g -O2 -std=gnu++11 -Wno-write-strings -Wall -ffunction-sections -fdata-sections -fno-rtti -fno-exceptions -DARM_MATH_CM3 -DUSE_HAL_DRIVER -DBOARD_OpenCM904 -w -x c++ -E -CC -mcpu=cortex-m3 -DF_CPU=72000000L -DARDUINO=10613 -DARDUINO_OpenCM904 -DARDUINO_ARCH_OPENCM904 -mthumb -DSTM32F103xB -D__OPENCM904__ "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm/include" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/driver" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/usb_cdc" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/lib/STM32F1xx_HAL_Driver/Inc/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\cores\arduino" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4" "-IE:\Documents\Arduino\libraries\Bioloid" "-IE:\Documents\Arduino\libraries\I2Cdev" "-IE:\Documents\Arduino\libraries\Wire" "D:\Arduino-Output\sketch\TurretScan_Lidar_IMU_01.ino.cpp" -o "nul"
    "C:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\tools\opencm_gcc\5.4.0-2016q2/bin/arm-none-eabi-g++" -c -g -O2 -std=gnu++11 -Wno-write-strings -Wall -ffunction-sections -fdata-sections -fno-rtti -fno-exceptions -DARM_MATH_CM3 -DUSE_HAL_DRIVER -DBOARD_OpenCM904 -w -x c++ -E -CC -mcpu=cortex-m3 -DF_CPU=72000000L -DARDUINO=10613 -DARDUINO_OpenCM904 -DARDUINO_ARCH_OPENCM904 -mthumb -DSTM32F103xB -D__OPENCM904__ "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm/include" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/driver" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/usb_cdc" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/lib/STM32F1xx_HAL_Driver/Inc/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\cores\arduino" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4" "-IE:\Documents\Arduino\libraries\Bioloid" "-IE:\Documents\Arduino\libraries\I2Cdev" "-IE:\Documents\Arduino\libraries\Wire" "E:\Documents\Arduino\libraries\Bioloid\BioloidCon troller.cpp" -o "nul"
    "C:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\tools\opencm_gcc\5.4.0-2016q2/bin/arm-none-eabi-g++" -c -g -O2 -std=gnu++11 -Wno-write-strings -Wall -ffunction-sections -fdata-sections -fno-rtti -fno-exceptions -DARM_MATH_CM3 -DUSE_HAL_DRIVER -DBOARD_OpenCM904 -w -x c++ -E -CC -mcpu=cortex-m3 -DF_CPU=72000000L -DARDUINO=10613 -DARDUINO_OpenCM904 -DARDUINO_ARCH_OPENCM904 -mthumb -DSTM32F103xB -D__OPENCM904__ "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm/include" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/driver" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/usb_cdc" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/lib/STM32F1xx_HAL_Driver/Inc/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\cores\arduino" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4" "-IE:\Documents\Arduino\libraries\Bioloid" "-IE:\Documents\Arduino\libraries\I2Cdev" "-IE:\Documents\Arduino\libraries\Wire" "E:\Documents\Arduino\libraries\Bioloid\ax12.c pp" -o "nul"
    "C:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\tools\opencm_gcc\5.4.0-2016q2/bin/arm-none-eabi-g++" -c -g -O2 -std=gnu++11 -Wno-write-strings -Wall -ffunction-sections -fdata-sections -fno-rtti -fno-exceptions -DARM_MATH_CM3 -DUSE_HAL_DRIVER -DBOARD_OpenCM904 -w -x c++ -E -CC -mcpu=cortex-m3 -DF_CPU=72000000L -DARDUINO=10613 -DARDUINO_OpenCM904 -DARDUINO_ARCH_OPENCM904 -mthumb -DSTM32F103xB -D__OPENCM904__ "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm/include" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/driver" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/usb_cdc" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/lib/STM32F1xx_HAL_Driver/Inc/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\cores\arduino" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4" "-IE:\Documents\Arduino\libraries\Bioloid" "-IE:\Documents\Arduino\libraries\I2Cdev" "-IE:\Documents\Arduino\libraries\Wire" "E:\Documents\Arduino\libraries\I2Cdev\I2Cdev. cpp" -o "nul"
    "C:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\tools\opencm_gcc\5.4.0-2016q2/bin/arm-none-eabi-g++" -c -g -O2 -std=gnu++11 -Wno-write-strings -Wall -ffunction-sections -fdata-sections -fno-rtti -fno-exceptions -DARM_MATH_CM3 -DUSE_HAL_DRIVER -DBOARD_OpenCM904 -w -x c++ -E -CC -mcpu=cortex-m3 -DF_CPU=72000000L -DARDUINO=10613 -DARDUINO_OpenCM904 -DARDUINO_ARCH_OPENCM904 -mthumb -DSTM32F103xB -D__OPENCM904__ "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm/include" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/driver" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/usb_cdc" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/lib/STM32F1xx_HAL_Driver/Inc/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\cores\arduino" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4" "-IE:\Documents\Arduino\libraries\Bioloid" "-IE:\Documents\Arduino\libraries\I2Cdev" "-IE:\Documents\Arduino\libraries\Wire" "E:\Documents\Arduino\libraries\Wire\SlowSoftI2CMa ster.cpp" -o "nul"
    "C:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\tools\opencm_gcc\5.4.0-2016q2/bin/arm-none-eabi-g++" -c -g -O2 -std=gnu++11 -Wno-write-strings -Wall -ffunction-sections -fdata-sections -fno-rtti -fno-exceptions -DARM_MATH_CM3 -DUSE_HAL_DRIVER -DBOARD_OpenCM904 -w -x c++ -E -CC -mcpu=cortex-m3 -DF_CPU=72000000L -DARDUINO=10613 -DARDUINO_OpenCM904 -DARDUINO_ARCH_OPENCM904 -mthumb -DSTM32F103xB -D__OPENCM904__ "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm/include" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/driver" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/usb_cdc" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/lib/STM32F1xx_HAL_Driver/Inc/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\cores\arduino" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4" "-IE:\Documents\Arduino\libraries\Bioloid" "-IE:\Documents\Arduino\libraries\I2Cdev" "-IE:\Documents\Arduino\libraries\Wire" "E:\Documents\Arduino\libraries\Wire\Wire.cpp" -o "nul"
    Generating function prototypes...
    "C:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\tools\opencm_gcc\5.4.0-2016q2/bin/arm-none-eabi-g++" -c -g -O2 -std=gnu++11 -Wno-write-strings -Wall -ffunction-sections -fdata-sections -fno-rtti -fno-exceptions -DARM_MATH_CM3 -DUSE_HAL_DRIVER -DBOARD_OpenCM904 -w -x c++ -E -CC -mcpu=cortex-m3 -DF_CPU=72000000L -DARDUINO=10613 -DARDUINO_OpenCM904 -DARDUINO_ARCH_OPENCM904 -mthumb -DSTM32F103xB -D__OPENCM904__ "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm/include" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/driver" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/usb_cdc" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/lib/STM32F1xx_HAL_Driver/Inc/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\cores\arduino" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4" "-IE:\Documents\Arduino\libraries\Bioloid" "-IE:\Documents\Arduino\libraries\I2Cdev" "-IE:\Documents\Arduino\libraries\Wire" "D:\Arduino-Output\sketch\TurretScan_Lidar_IMU_01.ino.cpp" -o "D:\Arduino-Output\preproc\ctags_target_for_gcc_minus_e.cpp"
    "C:\Program Files (x86)\Arduino\tools-builder\ctags\5.8-arduino10/ctags" -u --language-force=c++ -f - --c++-kinds=svpf --fields=KSTtzns --line-directives "D:\Arduino-Output\preproc\ctags_target_for_gcc_minus_e.cpp"
    Compiling sketch...
    "C:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\tools\opencm_gcc\5.4.0-2016q2/bin/arm-none-eabi-g++" -c -g -O2 -std=gnu++11 -Wno-write-strings -MMD -ffunction-sections -fdata-sections -fno-rtti -fno-exceptions -DARM_MATH_CM3 -DUSE_HAL_DRIVER -DBOARD_OpenCM904 -mcpu=cortex-m3 -DF_CPU=72000000L -DARDUINO=10613 -DARDUINO_OpenCM904 -DARDUINO_ARCH_OPENCM904 -mthumb -DSTM32F103xB -D__OPENCM904__ "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm/include" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/driver" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/usb_cdc" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/lib/STM32F1xx_HAL_Driver/Inc/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\cores\arduino" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4" "-IE:\Documents\Arduino\libraries\Bioloid" "-IE:\Documents\Arduino\libraries\I2Cdev" "-IE:\Documents\Arduino\libraries\Wire" "D:\Arduino-Output\sketch\TurretScan_Lidar_IMU_01.ino.cpp" -o "D:\Arduino-Output\sketch\TurretScan_Lidar_IMU_01.ino.cpp.o"
    Compiling libraries...
    Compiling library "Bioloid"
    "C:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\tools\opencm_gcc\5.4.0-2016q2/bin/arm-none-eabi-g++" -c -g -O2 -std=gnu++11 -Wno-write-strings -MMD -ffunction-sections -fdata-sections -fno-rtti -fno-exceptions -DARM_MATH_CM3 -DUSE_HAL_DRIVER -DBOARD_OpenCM904 -mcpu=cortex-m3 -DF_CPU=72000000L -DARDUINO=10613 -DARDUINO_OpenCM904 -DARDUINO_ARCH_OPENCM904 -mthumb -DSTM32F103xB -D__OPENCM904__ "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm/include" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/driver" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/usb_cdc" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/lib/STM32F1xx_HAL_Driver/Inc/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\cores\arduino" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4" "-IE:\Documents\Arduino\libraries\Bioloid" "-IE:\Documents\Arduino\libraries\I2Cdev" "-IE:\Documents\Arduino\libraries\Wire" "E:\Documents\Arduino\libraries\Bioloid\BioloidCon troller.cpp" -o "D:\Arduino-Output\libraries\Bioloid\BioloidController.cpp.o"
    In file included from C:\Users\john\AppData\Local\Arduino15\packages\Ope nCM904\hardware\OpenCM904\1.4.2\cores\arduino/Arduino.h:32:0,


    from E:\Documents\Arduino\libraries\Bioloid\ax12.h:20,


    from E:\Documents\Arduino\libraries\Bioloid\BioloidCont roller.h:29,


    from E:\Documents\Arduino\libraries\Bioloid\BioloidCont roller.cpp:20:


    E:\Documents\Arduino\libraries\Bioloid\BioloidCont roller.cpp: In member function 'void BioloidController:laySeq(const transition_t*)':


    C:\Users\john\AppData\Local\Arduino15\packages\Ope nCM904\hardware\OpenCM904\1.4.2\cores\arduino/avr/pgmspace.h:31:61: warning: cast to pointer from integer of different size [-Wint-to-pointer-cast]


    #define pgm_read_word(addr) (*(const unsigned short *)(addr))


    ^


    C:\Users\john\AppData\Local\Arduino15\packages\Ope nCM904\hardware\OpenCM904\1.4.2\cores\arduino/avr/pgmspace.h:36:34: note: in expansion of macro 'pgm_read_word'


    #define pgm_read_word_near(addr) pgm_read_word(addr)


    ^


    E:\Documents\Arduino\libraries\Bioloid\BioloidCont roller.cpp:233:46: note: in expansion of macro 'pgm_read_word_near'


    loadPose((const unsigned int *)(uint16_t)pgm_read_word_near(&sequence->pose));


    ^


    E:\Documents\Arduino\libraries\Bioloid\BioloidCont roller.cpp: In member function 'void BioloidController:lay()':


    C:\Users\john\AppData\Local\Arduino15\packages\Ope nCM904\hardware\OpenCM904\1.4.2\cores\arduino/avr/pgmspace.h:31:61: warning: cast to pointer from integer of different size [-Wint-to-pointer-cast]


    #define pgm_read_word(addr) (*(const unsigned short *)(addr))


    ^


    C:\Users\john\AppData\Local\Arduino15\packages\Ope nCM904\hardware\OpenCM904\1.4.2\cores\arduino/avr/pgmspace.h:36:34: note: in expansion of macro 'pgm_read_word'


    #define pgm_read_word_near(addr) pgm_read_word(addr)


    ^


    E:\Documents\Arduino\libraries\Bioloid\BioloidCont roller.cpp:247:44: note: in expansion of macro 'pgm_read_word_near'


    loadPose((const unsigned int *)pgm_read_word_near(&sequence->pose));


    ^


    "C:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\tools\opencm_gcc\5.4.0-2016q2/bin/arm-none-eabi-g++" -c -g -O2 -std=gnu++11 -Wno-write-strings -MMD -ffunction-sections -fdata-sections -fno-rtti -fno-exceptions -DARM_MATH_CM3 -DUSE_HAL_DRIVER -DBOARD_OpenCM904 -mcpu=cortex-m3 -DF_CPU=72000000L -DARDUINO=10613 -DARDUINO_OpenCM904 -DARDUINO_ARCH_OPENCM904 -mthumb -DSTM32F103xB -D__OPENCM904__ "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm/include" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/driver" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/usb_cdc" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/lib/STM32F1xx_HAL_Driver/Inc/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\cores\arduino" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4" "-IE:\Documents\Arduino\libraries\Bioloid" "-IE:\Documents\Arduino\libraries\I2Cdev" "-IE:\Documents\Arduino\libraries\Wire" "E:\Documents\Arduino\libraries\Bioloid\ax12.c pp" -o "D:\Arduino-Output\libraries\Bioloid\ax12.cpp.o"
    E:\Documents\Arduino\libraries\Bioloid\ax12.cpp: In function 'void setTXall()':


    E:\Documents\Arduino\libraries\Bioloid\ax12.cpp:11 0:9: error: 'UCSR1B' was not declared in this scope


    UCSR1B = /*(1 << UDRIE1) |*/ (1 << TXEN1);


    ^


    E:\Documents\Arduino\libraries\Bioloid\ax12.cpp:11 0:44: error: 'TXEN1' was not declared in this scope


    UCSR1B = /*(1 << UDRIE1) |*/ (1 << TXEN1);


    ^


    E:\Documents\Arduino\libraries\Bioloid\ax12.cpp: In function 'void setRX(int)':


    E:\Documents\Arduino\libraries\Bioloid\ax12.cpp:15 2:9: error: 'UCSR1B' was not declared in this scope


    UCSR1B = ((1 << RXCIE1) | (1 << RXEN1));


    ^


    E:\Documents\Arduino\libraries\Bioloid\ax12.cpp:15 2:25: error: 'RXCIE1' was not declared in this scope


    UCSR1B = ((1 << RXCIE1) | (1 << RXEN1));


    ^


    E:\Documents\Arduino\libraries\Bioloid\ax12.cpp:15 2:41: error: 'RXEN1' was not declared in this scope


    UCSR1B = ((1 << RXCIE1) | (1 << RXEN1));


    ^


    Multiple libraries were found for "I2Cdev.h"
    Used: E:\Documents\Arduino\libraries\I2Cdev
    Not used: C:\Users\john\AppData\Local\Arduino15\packages\Ope nCM904\hardware\OpenCM904\1.4.2\libraries\I2Cdev
    Multiple libraries were found for "Wire.h"
    Used: E:\Documents\Arduino\libraries\Wire
    Not used: E:\Documents\Arduino\libraries\Wire_old
    Not used: C:\Users\john\AppData\Local\Arduino15\packages\Ope nCM904\hardware\OpenCM904\1.4.2\libraries\Wire
    Using library Bioloid in folder: E:\Documents\Arduino\libraries\Bioloid (legacy)
    Using library I2Cdev in folder: E:\Documents\Arduino\libraries\I2Cdev (legacy)
    Using library Wire in folder: E:\Documents\Arduino\libraries\Wire (legacy)
    exit status 1
    Error compiling for board OpenCM9.04 Board.

  2. #2

    Re: Bioloid Library for OpenCM 9.04

    The OpenCM 9.04 is a 32-bit ARM board.
    The Bioloid library you're using was intended to run on an 8-bit AVR microcontroller, with 16-bit address space.
    It would be possible to update the code in the Bioloid library to be 32-bit clean, but that would be a fair amount of work.

    I would suggest you use the Dynamixel SDK, or the Dynamixel Workbench:
    http://emanual.robotis.com/docs/en/s..._sdk/overview/
    http://emanual.robotis.com/docs/en/s...xel_workbench/

    More information here:
    http://emanual.robotis.com/docs/en/s...e/arduino_ide/

    It sounds like the Dynamixel Workbench is the closest to the old Bioloid library for your needs, so you might want to start looking there.

  3. #3

    Re: Bioloid Library for OpenCM 9.04

    At one point I think I had a version of the Bioloid library running on OpenCM board.... With my BioloidSerial library which is setup to run on AVR boards, as well as Teensy boards... It is up on my github projects. But as I mentioned I don't think I kept the OpenCM support.

    Like what @jwatte mentioned, these days, I would recommend going with a setup with support, so I would go with one of the libraries that is supported, as he suggested. However if you are doing actual pose stuff, I am not sure how easily those translate. If you are simply using it to write out new positions to the servos, you can always use the sync write type commands.

    Of the two libraries mentioned, I prefer the Dynamixel SDK.

    The Workbench was sort of setup for ROS, and is sort of abstracts out which servo and the like, and you tell it to read or write registers by passing in their logical name by string, which each time, the system then tries to keep track of which type of servo you have, and associated with it, it then uses a string table, that it compares your string to, to then decide what actual register to use and the size of it, to do the read or write and maybe conversion from some logical units into servo units...

    Dynamixel SDK is a lot more basic on it. It still keeps track of types of servos....

    Currently these days, I am more geared around a newer lighter weight library: Dynamixel2Arduino which was created as part of support for the newer Dynamixel Shield. I am also working with some of the Robotis developers on hopefully improving it.

  4. Re: Bioloid Library for OpenCM 9.04

    Thanks for the info guys. As you say it would be good to move forward to a setup with support. I used the Bioloid library as I need to get servo positions as it's moving to the goal position. I'm panning a servo back and forth while reading the servo position and getting a lidar reading. This is completely independent of the Opencm904 board running the Phoenix code for the legs. Both boards are controlled by a RPI0 which is using Simon Levys BreezySlam Python/C code. It works pretty well on the Arbotix but I've run out of Serial ports as I'm adding a UM7 to get greater accuracy for the SLAM by adding Yaw and speed.

    So a snippet of the scanner code is as follows

    bioloid.readPose();
    bioloid.setNextPose(PAN,800);
    bioloid.interpolateSetup(bioloidDelay);
    while(bioloid.interpolating > 0)
    {
    bioloid.interpolateStep();
    Serial.println(GetPosition(PAN));
    Serial.println(GetPosition(TILT));
    reading = LidarReading();
    Serial.println(reading);
    yaw = UM7Yaw();
    Serial.println(yaw);
    }

    Any suggestions on the best approach for doing this using either of the Dynamixel libraries? Maybe I can take readings while the servos have a "moving" status?

    Happy New Year to you both!

  5. Re: Bioloid Library for OpenCM 9.04

    I've had a play around with this and yes I can loop the position readings using the "Present Position" while "Moving" is set using Dynamixel Workbench. It runs fast so I'll get lots of readings for each scan. For what I need this is fine.
    Thanks again

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