1. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com ICTENSW 2012 Workshop

2. Introduction … Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Who are we: Newcastle based company established in 2004. Sell Educational Robotic kits and Servo Motors to Universities, Schools and Hobbyists.

3. Introduction … Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Who are we: Collaborative Research & Design projects with Universities and Industry Hykim 23 DOF Robot Bear Designed for RoboCup SPL

4. What’s the Plan ? Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Today I’m going to talk about: Quick introduction to Robotis products for Education Learn to program the Bioloid with RoboPlus RoboPlus Manager RoboPlus Motion RoboPlus Task Learn to program the Bioloid in Embedded C AVR Studio NB. ALL Software used today is license free

5. Intro to Robotis Products Dynamixel Modules Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com - Serially controller servo motors - Defacto Industry standard - used be ~80% RoboCup Teams that build robots

6. How Servo Motors work … Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com http://www.pitt.edu/~sorc/robotics/handbook/ServoControl.htm http://www.pyroelectro.com/tutorials/servo_motor/servomotor.html Conventional Servo motors are used for positioning every 20ms you need to send a pulse to the servo motor, the width of this pulse then determines the position the shaft rotates to. This has to be done for every servo motor in the system => large overhead on main mcu.

7. How Dynamixels work … Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Use serial communication: TTL serial (3 wire) or RS485 (4 wire), and 1Mbps to 3Mbps comms speed. http://tribotix.com/Products/Robotis/Dynamixel/DynamixelIntro.htm Dynamixels are ‘networked’: each Dynamixel has a unique ID, they are connected via a Daisy Chain, and 255 Dynamixels can be connected to each network.

8. Why is this an advantage … Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com - Daisy-chained wiring reduces wiring in the robot/project, - You can now exchange more data with the Dynamixel. Settings Goal Position Moving Speed Voltage & Torque Limit Temperature Limit Angle Limits (min & max) Control Parameters Variables Current Position Current Speed Current Load Current Voltage Current Temperature

9. Control Parameters …. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com 1. Compliance 2. PID Control

10. Again - why are these advantages …. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Positioning Conventional servo involves: working out arc to be travelled, i.e. from X o to Y o working out time you need servo to move from X o to Y o calculate intermediate positions – t*(Y o – X o )/T sending a pulse every 20ms with new target position

11. Again - why are these advantages …. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Positioning Dynamixel involves: sending a command – move to Y o at speed Z Result: Dynamixels distribute the intelligence around your robot project.

12. There are other advantages … Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com 360 o Rotating mode Dynamixels can be used as a rotating motor at a number of speeds. Torque OFF mode motors shaft can be moved whilst recording shaft position …. ability to teach & repeat sequences easily.

13. Why are Dynamixels ideal for Robotics … Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com 1.Daisy-chained wiring reduces wiring in the robot project, 2.Intelligence is distributed and commands are simplified, 3.Parameters can be monitored in real time, 4.Setting can be made within Dynamixel to physically protect itself, 5.Each Dynamixel module can be tuned by either Complaince or PID Control techniques, 6.Use Torque OFF mode to ‘teach’ robot movement sequences.

14. Intro to Robotis Products Educational Robotic Kits Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com

15. Examples …. OLLO Kit Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com

16. Examples …. BIOLOID Kit Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com

17. Examples …. DARwIn-OP Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com

18. Introduction to the Bioloid - Hardware Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com CM-510 Control Module

19. Introduction to the Bioloid - Hardware Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com LiPo Battery Balanced LiPo Battery Charger

20. Introduction to the Bioloid - Hardware Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com USB2Dynamixel Converter

21. Introduction to the Bioloid - Hardware Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com DMS 5 – 80 cm IR 1.5 – 15cm 2-axis Gyro +/- 300 o /s

22. Introduction to the Bioloid - Hardware Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Remote Control Zig-110 Set

23. Introduction to the Bioloid - Hardware Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Building a Bioloid KIt

24. Introduction to the Bioloid - Hardware Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Dynamixel Centre Position Two ways to damage Dynamixels when building Bioloids: 1.Not positioning the Dynamixel centre as indicated above, and 2.Putting 8mm screws in the horn when only 6mm were required BUT, Dynamixels do have features (when programmed) to prevent damage.

25. Introduction to the Bioloid - Software Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com

26. RoboPlus - Manager Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Invoke Windows Device Manager. (useful if you need to determine USB COM port allocation) Connect PC To CM510

27. RoboPlus - Manager Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Operational Parameters and Statuses. All connected Dynamixels

28. RoboPlus - Manager Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com External I/O Devices Port 3: Gyro x-axis Port 4: Gyro y-axis Port 5: DMS

29. RoboPlus - Manager Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Operational Parameters and Statuses.

30. RoboPlus - Manager Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Move dial to change Dynamixel Position

31. RoboPlus - Manager Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com 0° (Value = 0) 300° (Value = 1023) 150° (Value = 512) Dynamixel Position representation ….. (1) where: n is the value, and d is the angle in degrees. ….. (2) e.g. If I want to move the AX-12 to 34 o what number do I send to the module? Using equation (1): So, if we want to move the AX-12 to 34 o we need to tell it to goto 116. Shaft Potentiometer Microcontroller 10-bit Analog to Digital Converter (A2D) 0 – 1023 0 – 5V 0 o –300 o

32. RoboPlus - Manager Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Turn motor Torque OFF See Dynamixel Status changes …

33. RoboPlus Motion Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Connect PC To CM510

34. RoboPlus Motion Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Select Pose Utility TAB

35. RoboPlus Motion Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com New Motion File RED indicates Motions currently in CM-510 Load Default Motion File: bio_prm_humanoidtypea_en.mtn

36. RoboPlus Motion Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Select Pose Robot Push Button Initial Pose Robot should Stand

37. RoboPlus Motion Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Select a Motion Then Press PLAY

38. RoboPlus Motion Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Download Default

39. RoboPlus Motion Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Demo: How to create a New Motion Things I will cover: Use of Basic Pose Editor User of Pose Utility Mirror function Inverse Kinematics

40. RoboPlus Task Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com

41. RoboPlus Task Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com

42. RoboPlus Task Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com

43. RoboPlus Task Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Types of Commands: 1.Start & End Start, Exit, Begin & End block and comments 2.Execute Compute, Load, Label, Jump 3.Condition If, Else 4.Loop Endless Loop, Conditional Loop, Foor Loop, Break and Conditional Stand/Wait 5.Function Make Callback function, Make a function, Call a function and Return from a function

44. RoboPlus Task Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com

45. RoboPlus Task Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com

46. RoboPlus Task Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com

47. RoboPlus Task Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com

48. AVR Studio Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com CM-510 is based around the ATMega2561 from Atmel Full I/O allocation at: http://support.robotis.com/en/software/embeded_c/cm510_cm700/programming/hardware_port_map.htmhttp://support.robotis.com/en/software/embeded_c/cm510_cm700/programming/hardware_port_map.htm

49. AVR Studio Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com ATMega2561 Full I/O allocation at: http://support.robotis.com/en/software/embeded_c/cm510_cm700/programming/hardware_port_map.htmhttp://support.robotis.com/en/software/embeded_c/cm510_cm700/programming/hardware_port_map.htm

50. AVR Studio Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Programming mcu’s directly is challenging Using example code I’d like to step you through the programming sequence. I will use a project provided by Robotis called Buttons It’s very simple, when a pushbutton is pressed an LED will come on Projects supplied by Robotis were for AVR Studio 4 – we will convert to AVR Studio v5 NB. AVR Studio 5 is first time compiler has been built into the package, making it much easier to install and work with. Embedded C programming User Manual: http://support.robotis.com/en/software/embeded_c_main.htmhttp://support.robotis.com/en/software/embeded_c_main.htm

51. AVR Studio Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com

52. AVR Studio Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com From the File menu: Import|AVR Studio4 Select the APS file: Button.aps Use Default Solution Folder Hit the Convert > button New Solution (or project) is created.

53. AVR Studio Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Open the Button.c file, this is a very simple project, only contains 1 c file. From the Build menu select Build Solution (F7) This will fail, it’s looking for: WinAVR-20090313 This is the OLD c compiler but is referenced in old Button project Makefile WinAVR-20100110 was installed as part of AVR Studio v5

54. AVR Studio Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com From the Tools menu select Options In the Options window select the ToolChair In Toolchains select Atmel AVR 8-bit Next delete the WinAVR flavour Then Add Flavour, call this WinAVR (same as previous) and select the directory: C:\ WinAVR-20100110\bin Close the window via the OK button You will now be able to Build Solution Result is a file: Button.hex

55. AVR Studio Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com The.hex file created by AVRStudio can be found in: …\My Documents\AVRStudio5.1\embedded+c)CM510_v1.01/example/Button\Default Start RoboPlus Terminal Hold the ‘#’ key in whilst resetting the CM-510 – this will access the bootloader Type in ‘L’ for load and then from the Files menu select the Transmit File option, select the file and it is transmitted When this is completed type in ‘G’ for Go – and the hex file is executed.

56. AVR Studio Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Need to use RoboPlus Terminal to download Button.hex To CM-510

57. AVR Studio Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com Firmware Restoration (is easy) Restoring CM510 to use RoboPlus suite …

58. Tribotix | Newcastle, Australia | P: +61 2 49578255 | F: +61 2 49578244 | W: www.tribotix.com THE END