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)
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