Bioloid Control

Setup

General

Check out the project into a directory of your choice. The main folder consists of four directories:

• parser:
  Lexx and yacc configuration files and windows binaries of flex (gnu) and bison (gnu)
• main:
  Source of the main (pc) program
• controller:
  Source and precompiled .hex file of the robot controller (μC program)
• viewer:
  Source of the OpenGL-3d-Viewer

The main program runs both on Linux and Windows platforms. Since the Robot Terminal is a Windows program, I use Programmers Notepad 2 along with WinAVR (see the Bioloid User Manual) to build the μC program. In order to use the program with your robot you have to build the custom firmware and write it to the robot, compile the OpenGL-Viewer and build the main program:

Custom Firmware (controller)

Note: If you want to use the program without a robot, you can skip this step.

Change into the directory controller and open the file: include/constants.h. Change AX12_COUNT from the default value 18 to the number of ax12 servos connected to your cm-5. Save the file then recompile the program:

• Linux:
  todo
• Windows:
  Open the RobotWrapper.pnproj with Programmers Notepad 2 and run Tools->Make Clean followed by Tools->Make All. If everything works as intended the file controller/RobotWrapper.hex should've been created.

Now follow the steps in the Bioloid User Manual to write the custom firmware controller/RobotWrapper.hex to the robot.

OpenGL Viewer (viewer)

Change into the directory viewer and:

• Linux:
  Compile the viewer.cpp by doing (you'll need glut):
  • make clean
  • make all
• Windows:
  Compile the viewerwin.cpp with a compiler of your choice, f.e. load viewer.dev with Dev-C++ and run compile.

You can start the viewer with ./viewer (Linux) respectively viewer.exe (Windows).

Main Program (main)

Change into the directory main and open the file: include/wrapper.h. Change AX12_COUNT from the default value 18 to the number of ax12 servos connected to your CM-5 and change AXS1_COUNT to the number of sensor modules connected to your CM-5 (default is 1). Save the file.

If you're using Linux and don't want to use ncurses you have to disable it by editing src/cmd.cpp. Change _SIMPLECONSOLE to SIMPLECONSOLE.

Now recompile the program:

• make clean
• make all