Humanoid Notes

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

• Hardware
  • Dynamixel Links
  • Dynamixel details
    • RX-28 Manual
  • CM2+ Manual
  • Related to a Pass-though mode
  • USB 2 Dynamixel
  • Sample Python Controller
• Simulation
  • Media:ObstacleRunAAAI2010.pdf