Difference between revisions of "Humanoid Notes"

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(CM-2 Plus)
Line 4: Line 4:
 
## /etc/udev/rules.d/10-ftdi.rules:
 
## /etc/udev/rules.d/10-ftdi.rules:
 
## MODE="0777"
 
## MODE="0777"
# Put the CM-2+ in Program mode (3rd blinking light)
+
# 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 start program
+
# send it a "t" and return and newline to put into "toss mode"
## ser.write("\r\n")
+
 
## 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

  1. In Linux, needed a udev rule to allow permissions to read/write the USB Serial port:
    1. /etc/udev/rules.d/10-ftdi.rules:
    2. MODE="0777"
  2. Put the CM-2+ in Manager Mode (1st blinking light)
  3. Open the serial port at 57600 baud
    1. import serial
    2. ser = serial.Serial("/dev/ttyUSB0", 57600)
  4. The CM-2+ will use its own UART to talk to the Dynamixel Bus at a Baud rate of 1000000
  5. send it a "t" and return and newline to put into "toss mode"
    1. ser.setTimeout(.1)
    2. ser.write("t\r\n")
    3. ser.read(10000)

Now you are ready to send it byte commands.

Links