I’m trying to run an AL5D arm controller from linux, specifically ubuntu with C.
I found that the controller communicates from serial - usb on ttyS1, and I’m able to open with the fd system call.
However, every time I try to set the tcsetattr, I get an Input/Output error.
I’m running off of the beagle bone black board, with ubuntu.
I’m using fcntl, stat, and termios in the headers of my C program.
Is there any communication mechanism in linux to interface with the arm?
I have not done any code on Linux specific to the Lynxmotion arm, but I have done Linux code for several robots including the T-Hex, which uses the SSC-32 to drive the servos. Have code that also drives the Trossen PhantomX arm. I have the code setup to compile for Raspberry Pi, Beagle Bone Black, ODrioid and currently working with Intel boards (Edison, Galileo Gen 2).
All of this code is up on github: www.github.com/kurte/Raspbarry_Pi
I ported over some of the Arduino libraries over to make it easier for me to migrate my Arduino code over to Linux. Main directory for that is library. In there is a class I call WrapperSerial, which I use to emulate Arduino Serial objects. If you then look at one of the uses of it for the SSC-32, you can look at one of my versions of the Phoenix Code base like in: phoenix_fixed (fixed point math), in the src sub-directory is the file Phoenix_Driver_SSC32.cpp, which uses the wrapper class to talk to the SSC-32. Note: in this code I always try to open the device:
/dev/ttySSC-32 which I try to set up using udev rules. My readme.md file at the top of the project is my working noties on setting up different processors and the like.
I should warn that this is simply my always WIP project, so at times things may or may not work
