Community Question

My HR-OS1 HR-OS1 robot (Oscar) is connected to my laptop through a Windows 'Putty terminal' via WiFi. It has it's own IP address.

The operating programs are open sourced C++, the platform is Linux.
The controller is an Intel Edison interfaced to an Arbotix-Pro sub controller that drives the AX-12 Dynamical servos.
There is a PS3 controller that uses Bluetooth to send commands.

I am not very proficient in C++ or Linux but, with help, I stumble along.

Is there a way to connect EZ-B4 to the Intel Edison through WiFi?

I suppose I could connect via a Bluetooth-to-UART and utilize the PS3 controller commands but that would be very limiting.

A USB to UART connection might work but the Edison has very limited USB connections and to date, there is no supporting code for that.
January 8 2016
Never mind! I initialized UART 1 to 115200 and now Servo 5 works.

Now to hooking up the full 20 servo chain.

DJ Sures
January 8 2016
Ah - the dynamixel servos are 1,000,000 baud by default. I can add a selection to enter your own baud rate for the servos if they are different.

Did you change that baud rate, or is that how they came from trossen? trossen might have changed the baud rate because 1,000,000 causes flaky issues with unreliable data transmission. I can see why they would change it - specifically since 115,200 is still very fast for sending servo positioning. Consider the EZ-B v3 was only 9600 :D
January 8 2016
I think the default rate for dynamixel servos from Trossen is 1,000,000 and I was going to work my up from 115,200 if that had not worked. I'll see how things go when I start building the complete servo chain.

Is there a way to read data from the servos? I would like to build an 'input pose' array by manually posting the robot, then read those positions into the array.
When completed, I would write the positions into an 'action array' and put that data into the Auto Positioner.

Do you think that would work?

Thanks for the great plugin.
DJ Sures
January 8 2016
I haven't had time to work on a read function for the plugin. I did email robotis and gave them the source code if they wanted to implement a plugin - but they have yet to reply. If you know anyone interested at creating a robotis plugin, my plugin is open-source. So feel free to build off my example source code.
October 16 2017
Dj, I'm having the same problem. I wish now I would invested in DJ.
Avatarby OldBotBuilder
Published Sunday, January 3, 2016