Closed tician closed 10 years ago
Also made a couple changes to the dynamixel library to accommodate any number of tx/rx attempts and any Return Status Level. Defaults are 1 attempt and level 2.
Hi NaN Great works!!! I will merge it to new OpenCM repository and notice you. please let me know it works ok Thank you.
Added several new features and performed lots of cleanup to BioloidController library. The cm9_bc_soccer example includes usage of all of the essential functions of CM9_BC and several of the optional functions (like offsets to adjust the poses to a specific robot's servos). The program is known to work with both the CM-900 (v1.01) and the CM-904, although the motion poses and sequences are currently designed for an armless Bioloid Premium Type-A Humanoid. It should be possible to use the same files on a full Type-A humanoid, but the arms will be uncontrolled. The command to convert the full Type-A motion file with MotionPage numbers the same as used in a Task program is: "python mtn2cm9rpm.py -i bio_prm_soccertypea_en.mtn --task". The three header files produced from this should be directly interchangeable with the three header files currently in the cm9_bc_soccer folder.
The conversion script has been rewritten to make files far easier to understand and using the "-T" or "--task" option during conversion permits usage of the exact same MotionPage numbers in the sketch as those used in any Task file using the same RoboPlus Motion file. Not using the "-T" or "--task" options will cause all unused motion pages from the RoboPlus Motion file to be deleted and the RPM_Array to have only the minimum number of entries to accommodate the valid sequences (the MotionPage numbers and pose/sequence names should be modified to match the new indices in the array). Any custom prefix can be attached to the pose, sequence, and RPM_Array names constructed from the RoboPlus Motion file. The default prefix is 'HelloRobo".