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Thread: Robotis OpenCM9.04 need help.

  1. #21

    Re: Robotis OpenCM9.04 need help.

    Just the blink. Nothing beyond that.

  2. #22

    Re: Robotis OpenCM9.04 need help.

    When I uploaded Dynamixel_Position, the RED LED lights up for a moment when I plug in the supply and it goes off soon after that. When I take out the supply and plug it again, it lights up for that moment.

  3. #23

    Re: Robotis OpenCM9.04 need help.

    When I tried reading the values on the motor, it always, gave 255. Why is that? What does it mean?

  4. #24
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    Re: Robotis OpenCM9.04 need help.

    Use the [ code ] [ /code ] tags (remove the spaces inside the braces) to post the exact sketch that you are attempting to upload. Also, what version of the IDE are you using?
    Please pardon the pedantry... and the profanity... and the convoluted speech pattern...
    "You have failed me, Brain!"
    bleh

  5. #25
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    Re: Robotis OpenCM9.04 need help.

    Ok... Let's say this one more time.... The LED turns on briefly every time power is supplied to the Dynamixel. This is normal and it will do that every time it first recieves power.... They all do it. It's expected. It's just telling you "Yes I'm recieving power."

    Now with that being said... I'm assuming you already know that power needs to be applied to the servos prior to running a sketch?

    Meaning... Turn on your power to the servos then restart or run your sketch...

  6. #26

    Re: Robotis OpenCM9.04 need help.

    I did that. It was powered and then code was uploaded.

  7. #27

    Re: Robotis OpenCM9.04 need help.

    /* Dynamixel Basic Position Control Example

    Turns left the dynamixel , then turn right for one second,
    repeatedly.
    Dynamixel constants and control table are declared in below header
    work\hardware\robotis\cores\robotis\dxl_constants. h

    You can buy DYNAMIXEL in ROBOTIS-SHOP
    [KOREAN]
    http://www.robotis-shop-kr.com/goods_list.php?Index=273
    [English]
    http://www.robotis-shop-en.com/shop/...20070914050547

    You can also find all information about DYNAMIXEL
    http://support.robotis.com/

    Ported to CM9 from the ROBOTIS E-manual 21 Oct 2012
    */
    /*
    ************************************************** *******************************
    * Dynamixel instantiation on serial device
    * To use dynamixel class, it must be needed for supporting OpenCM 485 SHD since v1.0.1
    * Dynamixel bus can be operated on any serial device OpenCM board.
    ************************************************** *******************************
    */
    Dynamixel Dxl(1); //Dynamixel on Serial1(USART1)


    //Dxl.writeWord(Dynamixel_Motor_Number, Address_Number, Address_Data);


    void setup() {
    // Initialize the dynamixel bus:
    // baud rate index n=1 is 1Mbps refer to 2000000/(1+n)
    // 34 is 57600 bps
    Dxl.begin(1); //1Mbps
    }


    void loop() {
    Dxl.writeWord(1, 30, 0); //Turn dynamixel ID 1 to position 0
    delay(1000); // Wait for 1 second (1000 milliseconds)
    Dxl.writeWord(1, 30, 300);//Turn dynamixel ID 1 to position 300
    delay(1000); // Wait for 1 second (1000 milliseconds)
    }
    Last edited by KevinO; 03-06-2014 at 07:25 PM.

  8. #28
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    Re: Robotis OpenCM9.04 need help.

    Unless you have followed the directions in the post I made a couple days ago to change the baudrate and the servo ID numbers, Dxl.begin(1) should be Dxl.begin(34).
    Please pardon the pedantry... and the profanity... and the convoluted speech pattern...
    "You have failed me, Brain!"
    bleh

  9. #29

    Re: Robotis OpenCM9.04 need help.

    I had uploaded this code. Further, I uploaded the code which you gave in this forum. In the code which you gave, the baud rate was changed to 57600 bps, but, still it didn't start working.

  10. #30

    Re: Robotis OpenCM9.04 need help.

    Quote Originally Posted by tician View Post
    Apparently the github version of the IDE as two sketches just for this occasion ("File->Examples->06. Dynamixel" named "d_Dxl_ID_Change" and "e_Dxl_Bps_Change"). Basically, upload this sketch to the CM-904 and connect one servo, let the sketch run until the servo starts panning back and forth. After it is moving, you disconnect everything, change the desired ID number in the sketch and re-upload to the CM-904, and repeat the process for the next servo.

    YOU MUST CONNECT ONLY ONE SERVO AT A TIME TO THE CM-904. IT USES THE BROADCAST ID, SO ALL SERVOS ON THE BUS WILL CHANGE THEIR BAUDRATE AND ID TO THE SAME VALUE.
    Code:
    Dynamixel Dxl(1); //Dynamixel on Serial1(USART1)
    
    void setup() {
      // Initialize the dynamixel bus:
      Dxl.begin(34);  //57600bps
    
      Dxl.writeByte(0xfe, P_ID, 1); //Change dynamixel ID #1 (argument #3 is desired ID number)
      Dxl.writeByte(0xfe, P_BAUD_RATE, 1);  // Set baudrate to 1 Mbps
    
      // Re-initialize dynamixel bus at 1Mbps
      Dxl.begin(1);  // initialize again at new baudrate 1Mbps  
    }
    
    void loop() {
      delay(500);              // Wait for 0.5 second (500 milliseconds)
      Dxl.writeWord(1, P_GOAL_POSITION_L, 512); // Rotate dynamixel ID 1 to position ~45 degrees
      delay(500);              // Wait for 0.5 second 
      Dxl.writeWord(1, P_GOAL_POSITION_L, 3584);// Rotate dynamixel ID 1 to position ~315 degrees
    }
    I had uploaded this code as well. But, it did not start working.

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