CM-900 Robotis IDE more programming examples

I've started to program CM-900 "translating" the example from the C programming tutorial for CM-510



You can get more information at robotsource.org CM-900 community circle and the CM-900 e-manual. There you can find:

- Quick start guide

- Presentation Workshop

- Arduino based IDE to program it very easily (examples included)

- Source code and instructions

- Using other servos

- Interfacing sensors

I already have "translated" two examples: a simple "hello world" like where a servo is move to 2 different positions and another where the servo id and position is asked and after entered the data the servo is positionated in the typed position, validating that id and position are in range.

The "hello World " example (here the zipped file):

[sourcecode language="c"]
#define P_GOAL_POSITION_L     30
#define P_MOVING              46

int counter;
int onlyOnceHappened;

void setup()
{
//USB Serial initialize

onlyOnceHappened=0;
counter=0;

SerialUSB.begin();
Dxl.begin(1);
delay (5000);
SerialUSB.println("Setup");
}

void loop()
{

delay (3000);
SerialUSB.print("loop");
SerialUSB.println(counter);
counter++;
delay(1000);

if (onlyOnceHappened==0)
{
onlyOnceHappened=1;
SerialUSB.println("Hello, World");
}

int id=8;

SerialUSB.println ("Simple example #0");

SerialUSB.print ("Perform movement 1 with the AX-12:");
SerialUSB.println (id);
byte bMoving = Dxl.readByte( id, P_MOVING);
byte CommStatus = Dxl.getResult();
if( CommStatus == COMM_RXSUCCESS )
Dxl.writeWord( id, P_GOAL_POSITION_L, 511 );
else
SerialUSB.println ("CommStatus IS NOT COMM_RXSUCCESS");

SerialUSB.println ("Pause half a second");
delay (500); // half-second pause

SerialUSB.println ("Beep!");
//buzzOn (100); // beep

SerialUSB.println ("Pause for a second");
delay (1000); // pause for 1 second

SerialUSB.print ("Perform movement 2 with the AX-12: ");
SerialUSB.println (id);

Dxl.writeWord( id, P_GOAL_POSITION_L, 611 );

SerialUSB.println ("End");

}
[/sourcecode]

Asking Id and Position example, (here the zipped file)

[sourcecode language="c"]

int counter;
bool onlyOnceHappened;

int id;
int position;

bool debugOutputOn;
char charReaded;

void debugOutputUSB(char *buffer, bool newlineAfterMessage)
{
if (debugOutputOn)
{
if (newlineAfterMessage)
SerialUSB.println(buffer);
else
SerialUSB.print(buffer);
}
}

void debugOutputUSB(int value, bool newlineAfterMessage)
{
if (debugOutputOn)
{
if (newlineAfterMessage)
SerialUSB.println(value);
else
SerialUSB.print(value);
}
}

void debugOutputPairUSB(char *buffer, int value)
{
if (debugOutputOn)
{
SerialUSB.println ("");
SerialUSB.print(buffer);
SerialUSB.println(value);
}
}

void debugOutputPairUSB(char *buffer1, char *buffer2)
{
if (debugOutputOn)
{
SerialUSB.println ("");
SerialUSB.print(buffer1);
SerialUSB.println(buffer2);
}
}

void setup()
{
//USB Serial initialize

onlyOnceHappened=false;
counter=0;
debugOutputOn=false;

SerialUSB.begin();
Dxl.begin(1);
delay (3000);

debugOutputUSB("Setuped", true);
}

void checkIfDebugOn()
{
SerialUSB.print("Put debug ON?, y/n");
charReaded=SerialUSB.read();

if (charReaded=='y' || charReaded=='Y')
debugOutputOn=true;
else
debugOutputOn=false;

debugOutputPairUSB ("DebugPut is:", debugOutputOn);
}

void loop()
{
delay (1500);
SerialUSB.println ("Simple example #1");

if (onlyOnceHappened==false)
{
onlyOnceHappened=true;
checkIfDebugOn();
}

debugOutputPairUSB  ("Loop: ",counter);
counter++;
delay(500);

debugOutputUSB("Starting loop", true);

while(true) // we'll repeat this loop forever
{
id=getId(); // get the ID of the AX-12 that we want to move
position=getPosition(); // get the goal position

Dxl.writeWord( id, P_GOAL_POSITION_L, position); // sent the command to the Dynamixel
debugOutputUSB ("Dxl.writeWorded", true);
}
}
// I have created a simple ayoi because I have problem compiling atoi
int myatoi(char *buffer)
{
int len=strlen(buffer)-2;
int value=0;
int i=0;
int base=0;
int number=0;

for (i=len;i>=0;i--)
{
number=int(buffer[i])-int('0');

debugOutputPairUSB ("buffer[i]: ", int(buffer[i]));

if (i==len)
{
value=number;
}
else
{
value+=base * number;
}

debugOutputPairUSB ("i: ",i);
debugOutputPairUSB ("number: ", number);
debugOutputPairUSB("base: ", base);
debugOutputPairUSB("valor: ", value);

if (base==0)
{
base=10;
}
else
base=base*10;
}

return value;
}

bool isValid(int value, int MinValue, int MaxValue)
{
return (value>=MinValue && value<=MaxValue);
}

void readString(char *bufferParameter)
{
int i=0; // We'll use this variable as index of the buffer where we will store data

do
{
bufferParameter[i]=(char) SerialUSB.read(); // it store the read character in the i position of bufferParameter
SerialUSB.print(bufferParameter[i]); // showing it
if (bufferParameter[i]=='\b') // if Backspace was pressed
i--; // it goes to the previous position, rewritting the previoulsy typed character
else //
i++; // it will write in the next position
//    SerialUSB.println(int(bufferParameter[i-1]));
}while(bufferParameter[i-1]!=10); // while the last values is not INTRO. The symmbol ! represents the logical operator NOT

bufferParameter[i]=0; // A NULL (0, zero) is necessary in the last position of any string
}

/*
It read an string, it's converted to integer and returned
*/
int readInteger(char *bufferParameter)
{
//  return SerialUSB.parseInt();

readString(bufferParameter);

//  int valor=int(bufferParameter[0]-int('0'));
debugOutputPairUSB ("Leido: ", bufferParameter);
int valor=myatoi(bufferParameter);

debugOutputPairUSB ("Valor leido: ", valor);

return valor;
}

int getId()
{
/*
We define an array enough large, 256 bytes (characters). Probably it's enough with 4 bytes, but if we type more than the defined size we will get an error*/
char buffer[256];

/*
And we define another integer variable, it's very advisable to asign a value in the definition, in this case we assign the minimun value, 1*/
int ax12Id=1;

do
{ // starting the loop
SerialUSB.println ("Enter the ID of the AX-12 that you wwant to move, between 1 y 18: ");
SerialUSB.print("Id:");
ax12Id=readInteger(buffer); // this function will read from what we type in the keyboard
//// exclamation (!) is the NOT logical operator. It will repeat the loop while the value is not valid
}while(!isValid(ax12Id, 1, 18));

// Showing the typed value
SerialUSB.println(" ");
SerialUSB.print("AX12 ID:");
SerialUSB.println(ax12Id);

return ax12Id;
}

int getPosition()
{
char buffer[256];
int position=0;

do
{
SerialUSB.println ("Enter a value between 0 and 1023 as the goal position");
SerialUSB.print ("Position:");
position=readInteger(buffer);
}while(!isValid(position, 0, 1023));

// Showing the typed value
SerialUSB.println(" ");
SerialUSB.print("Position:");
SerialUSB.println(position);

return position;
}

[/sourcecode]