Both BiPeds were constructed identically.
The BiPed on the left is using Embedded C, essentially using the original code (for a CM-5) from Dr. Hamid Moballegh and modified to work on a CM-510:
- example_HAVIMO_CM510.c (enclosed)
- makefile (enclosed) - the makefile does require the current directory structure of the C file to find the Robotis include and library files.
- the camera was designed to track Color3 which was set using the HaViMoGUI tool available at http://robosavvy.com/forum/viewtopic.php?t=7442
The Biped on the right is using an example RoboPlus TSK code from the RoboSavvy Forum web site:
Ones can see that the Embedded C version tracked the Blue Cup faster than the TSK version in this video.
Hope that the enclosed codes will work for you.
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