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How to program CM2+ using MATLAB?

조회 수 983 추천 수 0 2010.08.01 02:06:19
lokesh sardana *.149.49.226

hello,

I am having a CM2+ controller and DX-117 actauators. I am doing a project in which I have to process some information in MATLAB and move actuators accordingly. I want to control the actuators directly through MATLAB using CM2+ controller. So, could you please tell me how to program a CM2+ controller using MATLAB?


Thanks,

Lokesh

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[레벨:30]ROBOTIS

2010.08.02 17:36:53
*.112.9.210

Hi Lokesh,

 

Please refer to the link below. (SUPPORT --> DOWNLOAD) article # 47

http://www.robotis.com/xe/download_en/20631

You can use the Dynamixel SDK.

 

ROBOTIS

lokesh sardana

2010.08.07 18:16:15
*.149.49.226

hello sir,

I tried to turn on the led of DX-117 (connected through CM2+ with PC) with following code in MATLAB.


"

function ledtest()

    s=serial('COM7','BaudRate', 1000000,'Parity', 'none','DataBits',8,'StopBits', 1);
    fopen(s);
   

    %FF FF 04 04 03 19 01 DA
    %255,  255,  4, 4, 3, 25, 01, 218
    a = [255, 255, 4, 4, 3, 25, 01, 218];
    fwrite(s, a);
   

    out=fread(s, 6);
    disp(out);
   

    fclose(s);
    delete(s);
    clear s;
end


"

But it doesn't seem to be working and nothing is returning to 'out'.

So, please tell me where I was wrong?


Thanks,

Lokesh


[레벨:30]ROBOTIS

2010.08.09 17:54:17
*.112.9.210

Hi Lokesh,

 

My apologies for giving you the wrong information.

Currently, only the CM-510 and CM-700 supports Embedded C.

Cm-2+ is supported in PC.

http://support.robotis.com/en/techsupport_eng.htm#software/embeded_c/cm510_cm700.htm

 

If you are using MatLab, try using the USB2dynamixel for control.

http://support.robotis.com/en/techsupport_eng.htm#software/dynamixel_sdk/usb2dynamixel/windows/matlab.htm

 

ROBOTIS

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