IndexNextUpPreviousUrbi SDK 2.7.5

Chapter 27
Bioloid

 27.1 Introduction
 27.2 Installing Urbi for Bioloid
  27.2.1 Flashing the firmware
  27.2.2 Getting Urbi and Urbi for Bioloid
 27.3 First steps
  27.3.1 Starting up
  27.3.2 Motor features
  27.3.3 Sensor features

27.1 Introduction

The Bioloid is a a robot construction kit made of servomotors, sensors and frame elements. You can find more information on the manufacturer’s official website at http://www.robotis.com/zbxe/bioloid_en.

Urbi cannot run directly on the Bioloid controller (CM5, CM510). Urbi runs on your computer and talks to the Bioloid controller over serial link (RS232, or wireless depending on your configuration). Urbi can also talk directly to the motor bus if you have an usb2dynamixel.

27.2 Installing Urbi for Bioloid

27.2.1 Flashing the firmware

Urbi for Bioloid is using a custom firmware in the CM-5 controller. You must upload the new firmware in your CM-5 using the procedure below. This operation is reversible.

Download the firmware file from our website at http://www.gostai.com/downloads/urbi-for-bioloid.zip.

27.2.2 Getting Urbi and Urbi for Bioloid

Look at http://www.urbiforge.org/index.php/Robots/Bioloid for up-to-date information on how to download Urbi for Bioloid.

27.3 First steps

27.3.1 Starting up

Connect your CM-5 to the PC and turn it on before starting Urbi.

When you start Urbi, the initialization script in ‘global.u’ will connect to the CM-5 (edit the file to change the port if required), scan for devices and instantiate them. It will create:

Once initialized, do not disconnect any motor that was detected or everything will run very slow.

At this point you might want to give motor names more adapted to your model. Here is an example:

 
do (Global) // Make them available to everyone. 

  var wheelL = motors[1];  // Left wheel is motor ID 1. 
  var wheelR = motors[2];  // Right wheel is motor ID 2. 
  var headYaw = motors[7]; // Head yaw rotation is motor ID 7. 
};  

27.3.2 Motor features

All the AX12 features are exposed in urbiscript. The following section lists the main slots with code examples explaining how to use them. You can use Object.localSlotNames and refer to the AX12 documentation for more information.

27.3.3 Sensor features

All the AXS1 features are exposed in urbiscript. The following section lists the main slots with code examples explaining how to use them. You can use Object.localSlotNames and refer to the AXS1 documentation for more information.