Ez-sdk Sample Code For Jd :)

Question

Hello, i am playing around with an JD-Robot and wanted to rogramm it in Linux. 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.

DJ Sures · Accepted Answer

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: https://synthiam.com/Products/ARC

thetechguru · Answer

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

patrick_c# · Answer

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 · Answer

Alan, he edited the post - it was originally about OpenBot. Looks like he answered his own question

DJ Sures · Answer

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

patrick_c# · Answer

Thanks, but when i try to compile it (gmcs HelloWorld.cs) there is an error: HelloWorld.cs(2,0): error CS1525: Unexpected symbol `string'

patrick_c# · Answer

Can you pls give me a complete code?

thetechguru · Answer

Quote:Alan, he edited the post - it was originally about OpenBot. Not when I read it 4 hours ago Maybe you opened it in a tab and only got to it after an edit? That sometimes happens when I am reading a bunch of new posts. Alan

patrick_c# · Answer

@ Dj Sures, can you please me an complete code for moving my robot? Not only pieces of it? confused

patrick_c# · Answer

Thanks, it is now working

patrick_c#

Ez-Sdk Sample Code For Jd :)

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