1. OpenOCD (10d)
    • 2024-02-21 (Wed) 11:25:45 by takaboo diff

      Attach file: openocd.pdf by takaboo

  2. BTE100B DXHAT (12d)
    • 2024-02-19 (Mon) 00:05:50 by takaboo diff

      Attach file: E179B_CN5-12 by takaboo

  3. BTE094B TTL2DXIF (15d)
    • 2024-02-16 (Fri) 09:46:12 by takaboo diff

      Attach file: SLG4E46882_DS_r010_08312023.pdf by takaboo

  4. distributed edition PicoSHIELD (17d)
    • 2024-02-14 (Wed) 00:34:50 by takaboo diff

      デモに同梱したDXLIBはDynamixelのモデルを意識すること無くかつ物理値での指令に対応する追加APIが使用でき、それを利用して俗に言うモーションを簡単に再生するDXLMotionクラスを作った。

  5. KONDO PMX (35d)
    • 2024-01-27 (Sat) 18:38:29 by takaboo diff
       def __init__(self, port : serial.Serial | str, baudrate = 57600, timeout = 0.05, mutex = None):
         if isinstance(port, serial.Serial):
           self.__serial = port
           self.__baudrate = port.baudrate
           self.__timeout = port.timeout
         else:
           print(port, baudrate, timeout)
           print(type(port))
           self.__serial = serial.Serial(port, baudrate = baudrate, timeout = timeout)
           self.__baudrate = self.__serial.baudrate
           self.__timeout = self.__serial.timeout
         if mutex == None:
           self.__mutex = threading.Lock()
         else:
           self.__mutex = mutex
         return self.__serial.baudrate
       def __reconfig(self):
         self.__serial.baudrate = self.__baudrate
         self.__serial.timeout = self.__timeout
         self.__reconfig()
       def FullScan(self) -> tuple:
         orgtimeout = self.__timeout
         orgbaudrate = self.__baudrate
         #baud=(3000000,2000000,1500000,1250000,1000000,625000,115200,57600)
         baud=(57600,115200,625000,1000000,1250000,1500000,2000000,3000000)
         self.__serial.timeout = 0.001
         for b in baud:
           for id in range(240):
             self.__serial.baudrate = b
             r = self.MemREAD8(id, 0)
             print(f'baud:{b:7} id:{id:3} :', end='find\n' if r else 'none\r')
         self.__serial.timeout = orgtimeout
         self.__baudrate = orgbaudrate
       try:
         pmx = PMXProtocol('\\\\.\\COM12', 115200)
       except:
         pass
       else:
         ID = 0
         # reboot
         print('ReBoot=', pmx.ReBoot(ID, echo=True))
         time.sleep(0.5)
         '''
         # factory reset
         print('FactoryReset=',pmx.FactoryReset(ID))
         time.sleep(0.5)
         '''
         # load
         print('LOAD=', pmx.LOAD(ID, echo=True))
         # save
         print('SAVE=', pmx.SAVE(ID, echo=True))
         '''
         # sys write
         print('SysWrite=',pmx.SystemWRITE(ID, (ID, pmx.SYSW_BAUD_115_2k, pmx.SYSW_PARITY_NONE, 20)))
         time.sleep(0.5)
         '''
         # sys read
         r = pmx.SystemREAD(ID)
         print('SysRead=', f'${r[0]:08x} ${r[1]:08x} ${r[2]:08x} {r[3]:d} ' if r else 'False')
         # dump memory
         print('dump')
         for addr in range(0, 800, 20):
           r = pmx.MemREAD(ID, addr, 20)
           print(f' MemREAD({addr}:{20})=', r.hex(':') if r else '!!!!!!!!!!!!!!!!!!!!!!!!')
         # gain
         r = pmx.MemREAD(ID, 0, 64)
         print('gain\n MemREAD(0:64)=', *iter_unpack('<IIIIIIIIIIIIIIII', r) if r else '!!!!!!!!')
         # voltage limit
         r = pmx.MemREAD(ID, 76, 8)
         print('volt lim\n MemREAD(76:8)=', *iter_unpack('<HHHH', r) if r else '!!!!!!!!')
         # present value
         r = pmx.MemREAD(ID, 300, 24)
         print('present val\n MemREAD(300:20)=', *iter_unpack('<hhhhhhhhhHHH', r) if r else '!!!!!!!!')
         # error stat
         r = pmx.MemREAD(ID, 400, 6)
         print('err stat\n MemREAD(0:400:7)=', *iter_unpack('<BBBxH', r) if r else '!!!!!!!!')
         print('preparation for pos ctrl')
         # ctrl off
         print(' MotorWRITE=', pmx.MotorWRITE(ID, pmx.MOTW_OPT_FREE, ()))
         time.sleep(0.1)
         # 1:pos,2:speed,4:cur,8:torq,16:pwm,32:time
         print(' MemWRITE8(501)=', pmx.MemWRITE8(ID, 501, 1))
         print(' MemWRITE8(502)=', pmx.MemWRITE8(ID, 502, 0b11111))
         time.sleep(0.1)
         # goal angle
         print('start pos ctrl')
         print(' MotorWRITE=', pmx.MotorWRITE(ID, pmx.MOTW_OPT_TORQUEON, ()))
         for ang in tuple(range(0, 32000, 500)) + tuple(range(32000, -32000, -500)) + tuple(range(-32000, 500, 500)):
           for n in range(10):
             r = pmx.MotorWRITE(ID, pmx.MOTW_OPT_NONE, (ang,))
             if r != None:
               if len(r) > 0:
                 print(f' MotorWRITE= {r[0]},', ''.join('{:6},'.format(k) for k in r[1]), 'stat=', pmx.status, end = '\r')
                 pmx.MemREAD(ID, 400, 6)
             else:
               pass
               print(' MotorWRITE= !!!!!!!!!!!!!!!!!!!!!!!!')
               break
             time.sleep(0.005)
             continue
           pass
           break
           print()
         time.sleep(0.1)
         print(' MotorWRITE=', pmx.MotorWRITE(ID, pmx.MOTW_OPT_FREE, ()))
         print(' MotorWRITE=', pmx.MotorWRITE(ID, pmx.MOTW_OPT_FREE, ()))
         time.sleep(0.1)
         # 1:pos,2:speed,4:cur,8:torq,16:pwm,32:time
         print(' MemWRITE8(501)=', pmx.MemWRITE8(ID, 501, 2))
         time.sleep(0.1)
         # goal angle
         print('start speed ctrl')
         print(' MotorWRITE=', pmx.MotorWRITE(ID, pmx.MOTW_OPT_TORQUEON, ()))
         for spd in tuple(range(0, 2000, 50)) + tuple(range(2000, -2000, -50)) + tuple(range(-2000, 50, 50)):
           for n in range(10):
             r = pmx.MotorWRITE(ID, pmx.MOTW_OPT_NONE, (spd,))
             if r != None:
               if len(r) > 0:
                 print(f' MotorWRITE= {r[0]},', ''.join('{:6},'.format(k) for k in r[1]), 'stat=', pmx.status, end = '\r')
                 pmx.MemREAD(ID, 400, 6)
             else:
               pass
               print(' MotorWRITE= !!!!!!!!!!!!!!!!!!!!!!!!')
               break
             time.sleep(0.005)
           else:
             continue
           pass
           break
         else:
           print()
         time.sleep(0.1)
         print(' MotorWRITE=', pmx.MotorWRITE(ID, pmx.MOTW_OPT_FREE, ()))
         del pmx
  6. BTE100 DXHAT (46d)
    • 2024-01-16 (Tue) 15:33:19 by takaboo diff

      なお「~/DX2LIB_v?.?/SampleCode/C/config.c」はID・ボーレート・動作モードの変更、テスト運転用のサンプルソースになりますので、Dynamixelの諸設定変更の際は利用してみてはいかがでしょうか。

  7. DYNAMIXEL basic tutorial (52d)
    • 2024-01-09 (Tue) 23:24:03 by takaboo diff
       def __init__(self, port : serial.Serial | str, baudrate = 57600, timeout = 0.05, mutex = None):
         port : serial.Serial | str
           pySerial or Device name
       def __init__(self, port : serial.Serial | str, baudrate = 57600, timeout = 0.05, mutex = None):
         port : serial.Serial | str
           pySerial or Device name
  8. RecentDeleted (54d)
    • 2024-01-08 (Mon) 13:31:03 diff
  9. Tasting the RZBoard V2L (62d)
    • 2023-12-31 (Sun) 10:38:28 by takaboo diff

      $ bitbake -c savedefconfig linux-renesas

  10. Dynamixel Protocol 2 Library (111d)
    • 2023-11-12 (Sun) 00:09:35 by takaboo diff
      • 2023/11/6 Ver.3.0
  11. JP200(PoC) (124d)
    • 2023-10-30 (Mon) 11:30:14 by takaboo diff

      モーションは時間を追って変化する目標値を任意の時間で区切って羅列したデータを予め作っておき、そのデータをサーボの補間機能を活用しながら再生するもの。ここでは2個のサーボを角度制御と速度制御によるモーションを使って運転してみる。

         mt.start(0, IDs, (jp200.Pose(2, [ 400.0, 800.0 ], 1, 500, 'TP=1000'),))
         mt.start(0, IDs, (jp200.Pose(2, [ -800.0, -400.0 ], 1, 500, 'TP=1000'),))
         mt.start(0, IDs, (jp200.Pose(2, [ 0.0, 0.0 ], 1, 500, 'TP=1000'),))
  12. X Series Control table (179d)
    • 2023-09-05 (Tue) 11:56:04 by takaboo diff
      XH540-V15011880~1188
      XM540-W27020470~2047
      XH540-V27011880~1188
      XW540-T14020470~2047
  13. UD5 (207d)
    • 2023-08-08 (Tue) 20:26:10 by takaboo diff

      RA4M1,DA14531

  14. BTE074B DXSHIELD (244d)
    • 2023-07-02 (Sun) 09:39:14 by takaboo diff

      ※現状ではArduinoライブラリに問題があるため、解消するまで適用は控えてください。それでも115.2kbps以下であれば使えない事もありません。

  15. Digitus RA4M2 (301d)
    • 2023-05-06 (Sat) 10:40:05 by takaboo diff

      Attach file: e2s_prj_bin.png by takaboo

  16. RA4M2 Bootloader (303d)
    • 2023-05-04 (Thu) 12:22:42 by takaboo diff

      公開日: 2023/5/5

  17. BTE110 PicoSHIELD (326d)
    • 2023-04-11 (Tue) 17:01:32 by takaboo diff

      SHIELDのジャンパ線がPicoのTP6へ正しく接続されていれば、BOOTSELボタンを使わずとも電源を印加したままPB1の押下時間のみでPicoのリセットとブートROMのUSBマスストレージへの遷移が行えます。

  18. DXLIB_Arduino (347d)
    • 2023-03-21 (Tue) 18:09:15 by takaboo diff

      DXLIB dxif ((DX2LIB::TDXHost_ConfParam *)&param); DX2LIB dxif ((DX2LIB::TDXHost_ConfParam *)&param); DX2LIB dx2 ((DX2LIB::TDXHost_ConfParam *)&param); DX2LIB dxif((DX2LIB::TDXHost_ConfParam *)&param);

  19. BTE098B DXMIO with IMU (412d)
    • 2023-01-15 (Sun) 22:19:29 by takaboo diff
      • RS-485 I/F
  20. GCC Developer Lite (526d)
    • 2022-09-23 (Fri) 20:20:23 by takaboo diff

      GDLAvrPack202209.exe

      公開日: 2022/09/23
      サイズ: 17,167,850 byte
      MD5ハッシュ値: bea84c49fdf355ba61d3985739ee1d23

      1. AVRパック 2022/9/23
        1. 最新のAVR 8-bit Toolchainではポインタを引き回した際に挙動がおかしくなるためVer.3.6.2.1778へバックデート
        2. ターゲットライブラリの再構築のみ
  21. Dynamixel XL430-W250 (554d)
    • 2022-08-26 (Fri) 20:22:39 by takaboo diff

      Attach file: new_XL430_dimension.pdf by takaboo

  22. Dynamixel XM540-W150 (554d)
    • 2022-08-26 (Fri) 20:16:37 by takaboo diff
      • RS-485 I/F
  23. Dynamixel XM430-W210 (554d)
    • 2022-08-26 (Fri) 20:14:34 by takaboo diff
      • RS-485 I/F
  24. BTX098 HN11-I101 Set (554d)
    • 2022-08-26 (Fri) 16:20:23 by takaboo diff
      • HN11-I101 x1
  25. BTX245 HN13-I101 Set (554d)
    • 2022-08-26 (Fri) 11:37:45 by takaboo diff

      Attach file: X540_hn13-i101.png by takaboo

  26. BTX099 HN12-I101 Set (554d)
    • 2022-08-26 (Fri) 11:27:33 by takaboo diff

      BTX122

  27. BTX129 EPX540-BR101 Set (555d)
    • 2022-08-25 (Thu) 11:04:49 by takaboo diff

      ショップページへ

  28. BTX122 EPX430-BR101 Set (555d)
    • 2022-08-25 (Thu) 11:01:37 by takaboo diff
      www.besttechnology.co.jp_d00295d6305d253f3f70.png
  29. Dynamixelシリーズ 他 (555d)
    • 2022-08-25 (Thu) 10:37:13 by takaboo diff

      ホーン HN13-I101 EPX540-BR101

  30. BTH076 Dynamixel Starter Kit A (592d)
    • 2022-07-19 (Tue) 21:02:42 by takaboo diff

      またNerOへプログラムを転送する際は、無条件に本モードに変更しておかないと転送に失敗します。

  31. BTH077 Dynamixel Starter Kit B (594d)
    • 2022-07-17 (Sun) 11:47:23 by takaboo diff
      電源5VUSBバスパワー
      VDDが印加されている場合はDXMIO上のLDOから供給
  32. BTE098 DXMIO with IMU (596d)
    • 2022-07-15 (Fri) 01:12:02 by takaboo diff
      • RS-485 I/F
  33. BTX032 Dynamixel AX-18A (614d)
    • 2022-06-27 (Mon) 05:31:49 by takaboo diff

      ショップページへ

      www.besttechnology.co.jp_y00130y4e3f852aac646.png
      • IGSファイル
      • STPファイル
        基板用ヘッダーmolex 22-03-5035
        ハウジングmolex 50-37-5033
        ターミナルmolex 08-70-1040
  34. BTX040 Dynamixel AX-S1 (614d)
    • 2022-06-27 (Mon) 05:28:00 by takaboo diff

      詳細はこちら。

  35. BTX059 FR08-X101K Set (614d)
    • 2022-06-27 (Mon) 05:27:14 by takaboo diff

      Dynamixel MX-106

  36. BTX068 FR07-F101K Set (614d)
    • 2022-06-27 (Mon) 05:26:34 by takaboo diff
      rx-28_fr07-f101_fr07-x101.png
  37. BTX031 Dynamixel RX-28 (614d)
    • 2022-06-27 (Mon) 05:25:50 by takaboo diff

      詳細はこちら。

  38. BTX030 Dynamixel AX-12+ (614d)
    • 2022-06-27 (Mon) 05:24:26 by takaboo diff

      DYNAMIXEL Communiation Protocol 1.0ページ参照。

  39. BTX060 Dynamixel RX-24F (614d)
    • 2022-06-27 (Mon) 05:23:57 by takaboo diff

      詳細はこちら。

  40. BTX070 FR07-B101K Set (614d)
    • 2022-06-27 (Mon) 05:20:39 by takaboo diff
      rx-28_fr07-b101.png
  41. BTX033 ZIG-100B USBアダプタ (614d)
    • 2022-06-27 (Mon) 05:18:52 by takaboo diff
      3D pdf
  42. ROBO-ONE SERVER (614d)
    • 2022-06-27 (Mon) 05:14:45 by takaboo diff
      KONDO KRS15不正デバイスIDエラー
      KONDO B3M15不正デバイスIDエラー
      14不正IDエラー
      13異IDエラー
      12不正サイズエラー
      11不正パラメータエラー
      10COMポートエラー
      9チェックサムエラー
      8通信タイムアウト
      7B3MのSTATUSに準拠
      6
      5
      4
      3
      2
      1
      0
  43. DXLSeries (656d)
    • 2022-05-16 (Mon) 17:46:09 by takaboo diff
      MX-12WPID Control32x50x405510~14.80.2/121.4/12470/12GMRCored3604096TTLEnplaEnpla4.5V1
  44. BTC097 Digitus STM32F3 (748d)
    • 2022-02-13 (Sun) 11:59:07 by takaboo diff
      USER RAND anchor.png
  45. BTC065 H8​/3687Fマイコンボード (748d)
    • 2022-02-13 (Sun) 11:55:45 by takaboo diff

      Attach file: H8Pac3687F.png by takaboo

  46. BTC064B H8​/3694Fマイコンボード (748d)
    • 2022-02-13 (Sun) 11:54:03 by takaboo diff

      GCC Developer Liteの詳細についてはこちら。

  47. BTE072 ATmega32 EVB (748d)
    • 2022-02-13 (Sun) 11:51:03 by takaboo diff

      Attach file: AvrPacATM32.png by takaboo

  48. BTC068B ATmega128Aマイコンボード (748d)
    • 2022-02-13 (Sun) 11:46:10 by takaboo diff

      既にユーザプログラムが書き込まれている場合は、電源印加直後もしくはブートローダのコマンドモードから'G'を発行した時にユーザプログラムが実行されます。

  49. BTC067C ATmega32Aマイコンボード (748d)
    • 2022-02-13 (Sun) 11:44:43 by takaboo diff

      また、既にユーザプログラムが書き込まれている場合は、電源印加直後もしくはブートローダのコマンドモードから'G'を発行した時のみユーザプログラムが実行されます。

  50. BTC095 AT91SAM7X512マイコンボード (748d)
    • 2022-02-13 (Sun) 11:39:01 by takaboo diff

      Attach file: ArmPackATSAM7X.png by takaboo

  51. BTC091 AT91SAM7S256マイコンボード (748d)
    • 2022-02-13 (Sun) 11:35:36 by takaboo diff

      Attach file: ArmPackATSAM7S.png by takaboo

  52. BTC092 AT91SAM7S32マイコンボード (748d)
    • 2022-02-13 (Sun) 11:32:28 by takaboo diff

      Attach file: ArmPackATSAM7S.png by takaboo

  53. BTE101 USB2DXIF (751d)
    • 2022-02-09 (Wed) 22:31:40 by takaboo diff
      • RS-485 I/F
  54. UD4 (754d)
    • 2022-02-07 (Mon) 22:01:22 by takaboo diff

      TVSダイオードのクランプ電圧は印加される電源電圧以上かつ半導体の絶対最大定格電圧以下、容量はモータの回生電力を吸収しきれるものを選びます。

  55. Dynamixel XW430-T333 (839d)
    • 2021-11-14 (Sun) 15:26:38 by takaboo diff
  56. Dynamixel XW430-T200 (839d)
    • 2021-11-14 (Sun) 15:25:25 by takaboo diff
  57. Dynamixel XC330-T181 (872d)
    • 2021-10-12 (Tue) 17:11:34 by yoshida diff
  58. Dynamixel XC330-T288 (872d)
    • 2021-10-12 (Tue) 17:10:49 by yoshida diff
  59. Dynamixel Library (876d)
    • 2021-10-08 (Fri) 21:38:39 by takaboo diff
       if (DX_TxPacket (dev, 1, INST_READ, param, 2, &err)) {
         DX_RxPacket (dev, dat, sizeof (dat), &len, 100, &err);
  60. Raspberry Pi tips (906d)
    • 2021-09-08 (Wed) 10:55:34 by takaboo diff
      gpio readall
       +-----+-----+---------+------+---+---Pi 3B+-+---+------+---------+-----+-----+
       | BCM | wPi |   Name  | Mode | V | Physical | V | Mode | Name    | wPi | BCM |
       +-----+-----+---------+------+---+----++----+---+------+---------+-----+-----+
       |     |     |    3.3v |      |   |  1 || 2  |   |      | 5v      |     |     |
       |   2 |   8 |   SDA.1 | ALT0 | 1 |  3 || 4  |   |      | 5v      |     |     |
       |   3 |   9 |   SCL.1 | ALT0 | 1 |  5 || 6  |   |      | 0v      |     |     |
       |   4 |   7 | GPIO. 7 |  OUT | 1 |  7 || 8  | 1 | ALT0 | TxD     | 15  | 14  |
       |     |     |      0v |      |   |  9 || 10 | 1 | ALT0 | RxD     | 16  | 15  |
       |  17 |   0 | GPIO. 0 |   IN | 1 | 11 || 12 | 0 | IN   | GPIO. 1 | 1   | 18  |
       |  27 |   2 | GPIO. 2 |   IN | 0 | 13 || 14 |   |      | 0v      |     |     |
       |  22 |   3 | GPIO. 3 |   IN | 0 | 15 || 16 | 0 | IN   | GPIO. 4 | 4   | 23  |
       |     |     |    3.3v |      |   | 17 || 18 | 0 | IN   | GPIO. 5 | 5   | 24  |
       |  10 |  12 |    MOSI |   IN | 0 | 19 || 20 |   |      | 0v      |     |     |
       |   9 |  13 |    MISO |   IN | 0 | 21 || 22 | 0 | IN   | GPIO. 6 | 6   | 25  |
       |  11 |  14 |    SCLK |   IN | 0 | 23 || 24 | 1 | IN   | CE0     | 10  | 8   |
       |     |     |      0v |      |   | 25 || 26 | 1 | IN   | CE1     | 11  | 7   |
       |   0 |  30 |   SDA.0 |   IN | 1 | 27 || 28 | 1 | IN   | SCL.0   | 31  | 1   |
       |   5 |  21 | GPIO.21 |   IN | 1 | 29 || 30 |   |      | 0v      |     |     |
       |   6 |  22 | GPIO.22 |   IN | 1 | 31 || 32 | 0 | IN   | GPIO.26 | 26  | 12  |
       |  13 |  23 | GPIO.23 |   IN | 0 | 33 || 34 |   |      | 0v      |     |     |
       |  19 |  24 | GPIO.24 |  OUT | 1 | 35 || 36 | 0 | OUT  | GPIO.27 | 27  | 16  |
       |  26 |  25 | GPIO.25 |   IN | 0 | 37 || 38 | 0 | IN   | GPIO.28 | 28  | 20  |
       |     |     |      0v |      |   | 39 || 40 | 0 | IN   | GPIO.29 | 29  | 21  |
       +-----+-----+---------+------+---+----++----+---+------+---------+-----+-----+
       | BCM | wPi |   Name  | Mode | V | Physical | V | Mode | Name    | wPi | BCM |
       +-----+-----+---------+------+---+---Pi 3B+-+---+------+---------+-----+-----+

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