OpenCM 9.04
Contents
Overview
ROBOTIS OpenCM
The ROBOTIS OpenCM is a development Software and download tool for the OpenCM9.04 embedded board. Sources of the ROBOTIS OpenCM are released under licenses of their respective authors Copyright (c) ROBOTIS Co., Ltd. Modified or newly-created codes are released under the GNUGPL or LGPL licenses. For more information on the OpenCM9.04 refer to the Appendix section of the e-manuals
This tutorial is made to supplement that given by ROBOTIS.
OpenCM9.04 Software and Installation
OpenCM9.04 uses the ROBOTIS OpenCM Integrated Developmental Environment (IDE) to allow users to program with ease. The download link for the ROBOTIS OpenCM IDE can be found below:
Downloads
- ROBOTIS-v1.0.2-windows.zip - Windows XP, Vista, 7, 8 (32bit/64bit)
- ROBOTIS_OpenCM-v1.0.2-macosx.zip - Mac OS X (Tested in OS X 10.6.8)
- ROBOTIS_OpenCM-v1.0.2-linux64.tgz Linux 64bit (Tested in Ubuntu 12.04)
- ROBOTIS_OpenCM-v1.0.2-linux32.tgz - Linux 32bit (Tested in Ubuntu 10.10)
Installation
- For Mac, PC, and Linux follow the instructions here: http://support.robotis.com/en/software/robotis_opencm.htm
Dependencies
Linux (Ubuntu)
Java:
sudo apt-get install openjdk-7-jdk
ARM Toolchain:
sudo apt-get install ia32-libs
Permissions for serial port (ttyACM0 is the name of the OpencM 9.04 serial port):
sudo chmod 777 /dev/ttyACM0
Trouble Shooting
Board is not responding
If you get the message "Board is not responding" when trying to "download" do the following:
- Remove all power from the device
- Hold down the "user" button
- Turn power back on while the "user" button is pressed
- Release the "user" button and "download" again. (note: you might have to "download" multiple times before it works)
Examples
/* Dynamixel Wheel Mode Example This example shows how to use dynamixel as wheel mode All dynamixels are set as joint mode in factory, but if you want to make a wheel using dynamixel, you have to change it to wheel mode by change controlmode to 1 Compatibility CM900 O OpenCM9.04 O Dynamixel Compatibility AX MX RX XL-320 Pro CM900 O O O O X OpenCM9.04 O O O O X **** OpenCM 485 EXP board is needed to use 4 pin Dynamixel and Pro Series **** created 22 May 2014 by ROBOTIS CO,.LTD. */ #define DXL_BUS_SERIAL1 1 //Dynamixel on Serial1(USART1) <-OpenCM9.04 #define DXL_BUS_SERIAL2 2 //Dynamixel on Serial2(USART2) <-LN101,BT210 #define DXL_BUS_SERIAL3 3 //Dynamixel on Serial3(USART3) <-OpenCM 485EXP #define ID_NUM 1 Dynamixel Dxl(DXL_BUS_SERIAL1); void setup() { // Initialize the dynamixel bus: // Dynamixel 2.0 Baudrate -> 0: 9600, 1: 57600, 2: 115200, 3: 1Mbps Dxl.begin(3); Dxl.wheelMode(ID_NUM); //wheelMode() is to use wheel mode } void loop() { Dxl.goalSpeed(ID_NUM, 400); //forward delay(5000); Dxl.goalSpeed(ID_NUM, 400 | 0x400); //reverse delay(5000); Dxl.goalSpeed(ID_NUM, 0); //stop delay(2000); }