Ez-sdk Sample Code For Jd :)

patrick_c#

Germany

Asked Mar 2015 — Edited Apr 2015

Resolved by DJ Sures!

Hello,
i am playing around with an JD-Robot and wanted to rogramm it in Linux. And found this link:
https://www.ez-robot.com/EZ-Builder/mono
the small code works, and it print "HelloWorld" in the Terminal. But how can i make my JD move? Are there librarys, or just an sample code for movin JD would be enough
Thanks in advance, Patrick.

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DJ Sures

PRO

Synthiam

#1 Mar 2015

OpenBot is a third party product and not supported by ez-robot. I have never actually used it, although I have seen some projects built with it. I have not seen a JD built with it because the code does not contain the Auto Position GAIT module.

If you are using Linux, I would recommend using the EZ-Mono SDK. The Mono SDK for EZ-Robot contains the Auto Position GAIT module, which will allow you to make JD walk. Here is a link to the Mono SDK: http://synthiam.com/Products/ARC

thetechguru

PRO

USA

#2 Mar 2015

DJ, That is what he is trying to use. You posted the same link Patrick did.

Alan

patrick_c#

Germany

#3 Mar 2015

Hi,
@ thetechguru, thanks, just wanted to say that

I want an sample code which moves my JD-Robot that i know how to use Mono with my EZ-Robot,
Patrick

DJ Sures

PRO

Synthiam

#4 Mar 2015

Alan, he edited the post - it was originally about OpenBot.

Looks like he answered his own question

DJ Sures

PRO

Synthiam

#5 Mar 2015

To use the Auto Position, this is a cut and paste of how to move servos..

Code:


    string ActionGUID1 = string.Empty;
    string ActionGUID2 = string.Empty;

void InitPositions() {

      // These are events from the auto positions
      ezb.AutoPosition.OnComplete += AutoPosition_OnComplete;
      ezb.AutoPosition.OnStartAction += AutoPosition_OnStartAction;
      ezb.AutoPosition.OnStartFrame += AutoPosition_OnStartFrame;

      // First we define the servos
      ezb.AutoPosition.Config.AddServo(Servo.ServoPortEnum.D0); // 0
      ezb.AutoPosition.Config.AddServo(Servo.ServoPortEnum.D1); // 1
      ezb.AutoPosition.Config.AddServo(Servo.ServoPortEnum.D2); // 2
      ezb.AutoPosition.Config.AddServo(Servo.ServoPortEnum.D3); // 3

      // Add a frame. The number of positions must match the number of servos. First position is for the first servo, second position is for the second servo, etc..
      // In this example, this frame sets all servos to position 90
      string frame1 = ezb.AutoPosition.Config.AddFrame("Frame #1", new int[] { 90, 90, 90, 90 });

      // Now we will add more frames...
      string frame2 = ezb.AutoPosition.Config.AddFrame("Frame #1", new int[] { 70, 20, 40, 10 });
      string frame3 = ezb.AutoPosition.Config.AddFrame("Frame #1", new int[] { 170, 140, 80, 160 });
      string frame4 = ezb.AutoPosition.Config.AddFrame("Frame #1", new int[] { 20, 70, 150, 100 });

      // Create an action by assigning a bunch of frames to it. 
      // Rather than a frame being assigned to an action directly, it gets wrapped in an ActionFrame which allows you to specify parameters
      // the parameters are Delay, Steps and Speed
      // The Delay is how long in MS to delay between steps
      // The Steps is how large of a step to take (1 moves the servo 1 position per step, 2 moves the servo 2 positions per step, etc..)
      // The Speed is how fast to set the ServoSpeed. A -1 means do not change the speed. 0 means move the speed to 0, etc...
      ActionGUID1 = ezb.AutoPosition.Config.AddAction(new EZ_B.Classes.AutoPositionAction(
        "Test Action 1",
        true,
        true,
        new EZ_B.Classes.AutoPositionActionFrame[] {
          new EZ_B.Classes.AutoPositionActionFrame(frame1, 25, 3, -1),
          new EZ_B.Classes.AutoPositionActionFrame(frame2, 25, 3, -1),
          new EZ_B.Classes.AutoPositionActionFrame(frame3, 25, 3, -1),
          new EZ_B.Classes.AutoPositionActionFrame(frame4, 25, 3, -1),
          new EZ_B.Classes.AutoPositionActionFrame(frame3, 35, 1, -1),
          new EZ_B.Classes.AutoPositionActionFrame(frame2, 35, 1, -1),
          new EZ_B.Classes.AutoPositionActionFrame(frame1, 35, 1, -1),
        },
        EZ_B.Classes.AutoPositionAction.ActionTypeEnum.NA));

      // Let's create a second action
      ActionGUID2 = ezb.AutoPosition.Config.AddAction(new EZ_B.Classes.AutoPositionAction(
        "Test Action 2",
        true,
        true,
        new EZ_B.Classes.AutoPositionActionFrame[] {
          new EZ_B.Classes.AutoPositionActionFrame(frame1, 25, 3, -1),
          new EZ_B.Classes.AutoPositionActionFrame(frame3, 25, 3, -1),
          new EZ_B.Classes.AutoPositionActionFrame(frame3, 25, 5, -1),
          new EZ_B.Classes.AutoPositionActionFrame(frame2, 25, 5, -1),
        },
        EZ_B.Classes.AutoPositionAction.ActionTypeEnum.NA));
}

    void AutoPosition_OnStartFrame(AutoPosition sender, EZ_B.Classes.AutoPositionFrame frame, EZ_B.Classes.AutoPositionActionFrame actionFrame) {

     Console.WriteLine("Frame {0}  (Steps: {1}, Speed: {2}, Delay: {3})", frame.Title, actionFrame.Steps, actionFrame.ServoSpeed, actionFrame.Delay);
    }

    void AutoPosition_OnStartAction(AutoPosition sender, EZ_B.Classes.AutoPositionAction action) {

      Console.WriteLine("Action Started: {0}", action.Title);
    }

    void AutoPosition_OnComplete(AutoPosition sender) {

      Console.WriteLine("Action Stopped");
    }

void StartAction1() {

      ezb.AutoPosition.ExecAction(ActionGUID1);
}

void StartAction2() {

      ezb.AutoPosition.ExecAction(ActionGUID2);
}

void StopAction() {

      ezb.AutoPosition.Stop();
}