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Bioloid Premium - Zigbee Questions

조회 수 3892 추천 수 0 2012.03.22 16:35:04

Hi Robotis,


I am an undergraduate Engineer, from the University of South Australia. The University has purchased two “Bioloid premium kits” for research projects.


I am having trouble using the Zigbee communication modules with the two Bioloid robots and was wondering if you could help or direct me to any resources that will help. Some questions I have are:

1. Can two different Zigbee 110 modules communicate separately to one Zigbee 100 module on the zig2serial? (on broadcast mode the communication interferes)

2. Can the RoboPlus task files be used or converted into C-files?

3. Is there any Zigbee sample task files for the RoboPlus software?

4. What software can be used to write code that will control the Zig2serial from the computer?


Any help would be much appreciated


Kind Regards,

Ben


댓글 '3'

[레벨:30]ROBOTIS

2012.03.26 16:59:39
*.112.9.210

Hi Ben,

1) No, we do not have software for this.

2) If interference is the problem, I recommend you to switch to BT-110A.

http://www.robotis-shop-en.com/shop/step1.php?number=946

3) No.

4) Please refer to the link. http://support.robotis.com/en/software/zigbee_sdk.htm

ROBOTIS

Bae

2012.04.01 12:23:14
*.204.81.131

Hello Ben,


Regarding your question 3, enclosed are 2 example TSK codes illustrating how the 16-bit ZigBee data packet can be "shaped" so as to contain a SERVO_ID and a SERVO_PRESENT_POSITION (Address 36) and how to send it from a Master bot (with 7 servos) to an identical Slave bot which tried to mimic whatever the Master bot was doing (ZigBee in 1 to 1 mode).  For you case, you could set all bots and PC to broadcast mode and  may be you can use the 16th bit to distinguish whether the 16-bit ZigBee message sent from the PC was intended for the Humanoid_1 or the Humanoid_2 (and vice versa)? And then perhaps the next 5-bits for SERVO IDs, or MOTION PAGE numbers?  Then the lowest 10 bits for other SERVO and SENSOR information?  We had designed a system whereas the PC was "talking" to 3 carbots at the same time and it was working OK most of the time, but we did experience "packet losses" with larger communication distances between bots and the PC as mentioned in Q&A #655 from David below.   So far, we have not yet used the BT-110A from Robotis, so we can't tell whether its performance and/or its range are better that the Zig-110/100-Zig2Serial systems.


Hopefully this posting is of help to you,

Bae

첨부

benw

2012.04.26 22:34:09
*.2.39.17

Hello Bae,


Thank you for your reply, I found your motion files very helpful! I did not know to the extent that binary numbers could be manipulated in RoboPlus Task. Sorry for the late reply, I have now solved all my problems :) I'm using my own Zigbee Protocol from the PC that uses the 16-bit data packets to request data or initiate motion from a robot. 

Bit: Description: Possible values:

bit 1 robot ID check true or false

bit 2 distance sensor 1 true or false

bit 3 distance sensor 2 true or false

bit 4 distance sensor 3 true or false

bit 5 distance sensor 4 true or false

bit 6 compass sensor true or false

bit 7-12 motion page command 32

bit 13-16  simple checksum. 16


(checksum is only for demonstration purposes)


The task file basically tests what sensory information is required, then checks what motion page to play. I'm using the Zigbee modules on the broadcast channel 4. I found it odd and discomforting that the Zig2serial had to be physically altered by removing a resistor, but its working fine. All modules on the broadcast channel listen for anything, that is why I'm using this protocol.


Cheers,

Ben

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