Hi,
My humanoid bioloid (based on comprehensive kit) is currently equipped with a roboard (for logic), a cm-5 for controlling motions and an I/O board for connecting sensors (mainly accelerometer for balancing). Since the robot is getting quite heavy (2.3Kg) despite having lipo batteries instead of the nimh, I would like to substitute the cm-5 with the cm510 for various reasons - 1) cm510 is lighter and 2) since the cm510 has support for I/O I can eleminate the I/O board making the robot lighter.
I went through your website and found an incredible amount of support (sdks, information and examples) on the cm510, but the only thing that is missing is how to read from the ROM of the cm510. On the cm-5 I designed my own algorithm in C to read the motion pages and play them when asked from roboard (roboard and CM-5 are connected through rs-232). Can you please include this principle (reading from ROM of the cm510) on your web page?
Also can you please specify the format of the motion pages as stored in cm510. Is it the same as those stored in cm-5 (same amount of bytes per motion pose/page)? One last thing, can one use the same mtn files for cm510 in cm-5?
Sorry for the long post, but I wanted to make sure that I explain myself well.
Thanks for your time and waiting your reply.
Regards
Charles
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ROBOTIS
Hi Charles,
I believe you are referring to the Rom firmware.
I am not sure if I understood your questions, but if you have made a firmware for the CM-5 to work with roboard,
and is hoping we can reflect this algorithm in ours, as much as we would love to, this will be difficult.
We do not offer the CM-510 firmware separately. The RoboPlus Manager manages it.
As for the CM-510’s motion format, it is the same as the CM-5. The only difference is below :
*Start Address: 0x1E000
*Size: 0x20000 (128KB)
*Page number: 256
You can make your own CM-510 firmware using the Embedded C in the Tech Support.
Also, you can use the mtn file (from the CM-5) in the CM-510.
BUT, as we changed over to RoboPlus, the mtn file format has changed as well.
CM-5’s format: same as the binary and mtn (memory format)
CM-510’s format: mtn is UTF-8 based text and, RoboPlus Motion convernts to binary and downloads. The downloaded memory is the same as that of the CM-5.
Hope this information is helpful!
ROBOTIS