Hi,
I’m using the Bioloid comprehensive kit for my 4th year project configured as a puppy. I’m trying to transmit data using the CM-5 TX remocon data in the behaviour controlled program via the RS-232. I connected the robot to the COM port of my PC. I used the hyper terminal to see what was being output after transmitting simple data such as “1”, “2”, “3”, etc. however, the hyper terminal is receiving data that begins with a U followed by weird characters. For example, when I transmit “1”, the hyper terminal outputs “Uþ”. Can you provide me with the message format or the structure in which data packet (including headers) has to be transmitted or received.
Also, if possible can you provide me with a reference manual for the CM-5.
Thank-you,
Ronnie Farrell
Hi,
Thank you for the documentation, it was very useful. However, I am still having some trouble with receiving data on the CM-5. After looking at some documention it stated that the packet format for serial protocol is FF 55 LSB ~LSB MSB ~MSB where ~LSB is the inverse or compliment of LSB and in hex. To begin, I verified the structure of the packet by writing a simple behaviour controlled program (BCP) using the CM-5 TX remocon data function to transmit ‘1’. I connected the robot to a COM port. I then used a serial port monitor program and saw that the packet transmitted was FF 55 01 FE 00 FF (hex). This was expected and concluded that was indeed the packet format for serial protocol.
Now, that I knew the the correct packet format for serial protocol used by the CM-5, I wrote a BCP to receive data sent by the COM port. The program I wrote looked like this:
Start
(label = Repeat)
IF (CM-5 RX remocon data arrived) = 0 THEN JUMP Repeat
LOAD Data <= (CM-5 RX remocon data)
If Data = 1 THEN JUMP Sit
(label = Sit)
– code to make the robot sit which has been tested and works
END
By knowing the correct packet format that the CM-5 uses, I used the serial port monitor program to send FF 55 01 FE 00 FF in hex (which the CM-5 recognizes as a ‘1’) from the COM port that was hooked up the the robot. However, the robot was unresponsive. The RXD LED on the CM-5 didn’t blink either which indicates to me that the CM-5 was rejecting the packet. I am very confused as I can transmit data, but by using the same packet format the robot does not receive the data being sent to it. Please help.
Thanks,
Ronnie Farrell
All available documentation from Robotis is available on their download website.
Beyond this, Robosavvy has produced some documentation that may be of help.
Further digging will be required, Bioloid is not the most hacker-friendly platform. Using an alternate terminal program or even a small custom C# application may help. Hyperteminal can be problematic at times.
