Humanoid Notes

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Revision as of 15:37, 19 June 2010 by Doug Blank (Talk | contribs)

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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 Program mode (3rd 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 return and newline to start program
    1. ser.write("\r\n")
    2. ser.setTimeout(.1)
    3. ser.read(10000)

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