Difference between revisions of "Humanoid Notes"
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## /etc/udev/rules.d/10-ftdi.rules: | ## /etc/udev/rules.d/10-ftdi.rules: | ||
## MODE="0777" | ## MODE="0777" | ||
| − | # Put the CM-2+ in | + | # Put the CM-2+ in Manager Mode (1st blinking light) |
# Open the serial port at 57600 baud | # Open the serial port at 57600 baud | ||
## import serial | ## import serial | ||
## ser = serial.Serial("/dev/ttyUSB0", 57600) | ## ser = serial.Serial("/dev/ttyUSB0", 57600) | ||
# The CM-2+ will use its own UART to talk to the Dynamixel Bus at a Baud rate of 1000000 | # The CM-2+ will use its own UART to talk to the Dynamixel Bus at a Baud rate of 1000000 | ||
| − | # send it a return and newline to | + | # send it a "t" and return and newline to put into "toss mode" |
| − | + | ||
## ser.setTimeout(.1) | ## ser.setTimeout(.1) | ||
| + | ## ser.write("t\r\n") | ||
## ser.read(10000) | ## ser.read(10000) | ||
| + | |||
| + | Now you are ready to send it byte commands. | ||
== Links == | == Links == | ||
Revision as of 17:31, 19 June 2010
CM-2 Plus
- In Linux, needed a udev rule to allow permissions to read/write the USB Serial port:
- /etc/udev/rules.d/10-ftdi.rules:
- MODE="0777"
- Put the CM-2+ in Manager Mode (1st blinking light)
- Open the serial port at 57600 baud
- import serial
- ser = serial.Serial("/dev/ttyUSB0", 57600)
- The CM-2+ will use its own UART to talk to the Dynamixel Bus at a Baud rate of 1000000
- send it a "t" and return and newline to put into "toss mode"
- ser.setTimeout(.1)
- ser.write("t\r\n")
- ser.read(10000)
Now you are ready to send it byte commands.
