bioloid-tutorial
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URBI Tutorial for useof URBI-engine-bioloidQuickstart(book compiled from 682M)Gommard TeddyURBI Tutorial for use of URBI-engine-bioloid: Quickstart: (bookcompiled from 682M)by Gommard TeddyPublication dateCopyright © 2006-2008 GostaiThis document is released under the Attribution-NonCommercial-NoDerivs 2.0 Creative Commons licence (http://creativecommons.org/licenses/by-nc-nd/2.0/deed.en).Table of Contents1. Introduction .............................................................................................................. 12. Step by Step manipulations to start with Urbi ................................................................. 2A. Copyright ................................................................................................................ 8.......................................................................................................................... 8ivChapter 1. IntroductionThis documentation contains a tutorial about how to quickly set up the bioloid URBI engine.This has references to the Urbi engine for Bioloid documentation which can be foundhere: http://www.gostai.com/bioloid [http://www.gostai.com/doc/en/bioloid.html]You may be interested in reading information about the bioloid at www.bioloid.info [http://www.bioloid.info/tiki/tiki-index.php] if you are not familiar with it yet.1Chapter 2. Step by Stepmanipulations to start with UrbiDownloadGo to the page http://www.gostai.com/bioloid and ...

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URBI Tutorial for use of URBI-engine-bioloid
Quickstart
(book compiled from 682M)
Gommard Teddy
URBI Tutorial for use of URBI-engine-bioloid: Quickstart: (book compiled from 682M) by Gommard Teddy
Publication date Copyright © 2006-2008 Gostai
This document is released under the Attribution-NonCommercial-NoDerivs 2.0 Creative Commons licence (http://creativecommons.org/ licenses/by-nc-nd/2.0/deed.en).
Table of Contents
1. Introduction .............................................................................................................. 1 2. Step by Step manipulations to start with Urbi ................................................................. 2 A. Copyright ................................................................................................................ 8 .......................................................................................................................... 8
iv
Chapter 1. Introduction
This documentation contains a tutorial about how to quickly set up the bioloid URBI engine.
This documentation has references to the Urbi engine for Bioloid documentation which can be found here: http://www.gostai.com/bioloid [http://www.gostai.com/doc/en/bioloid.html]
You may be interested in reading information about the bioloid at www.bioloid.info  [http:// www.bioloid.info/tiki/tiki-index.php] if you are not familiar with it yet.
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Chapter 2. Step by Step manipulations to start with Urbi Download Go to the page http://www.gostai.com/bioloid and follow instructions to download the engine. As the Cm-5 brick as not enough computation power to embed an Urbi server, this is an external computer which runs the server and send command to robot via a serial cable. By now, there are three versions of Urbi engine for Bioloid: • Windows • Linux • Mac (Intel processors) Please choose version depending on the computer running the Urbi engine. Installation Three cases : you are a Windows, a linux or a Mac user: • Windows users : Package has the form of an installer with options, just follow steps. • Linux users : Package is a gzip compressed tarball (.tar.gz extension), uncompress this one where you want (~/urbi for example). • Mac users : Same as linux. Installation tree overview Here is what you can see in your installation directory:
_ <INSTALL DIR>/ ### bin/ Urbi engine and its launcher urbi.sh or urbi.bat. # ### firmware/ Firmware to flash the CM-5 brick. ### gfx/ Icons. ### gostai/ # ### Bioloid.data/ .u and .INI scripts files, an important directory. ### lib/ Dependency libraries of engine. ### share/  ### doc/ Documentation, can also found on http://www.gostai.com/doc. URBI firmware flashing You may have to flash the CM-5 module with the URBI firmware. This operation is needed because the format used by the URBI-engine to send data is slightly different from the Robotis protocol. You can find the hex file in <INSTALL DIR>/bin/firmware/ folder of your bioloid installation _ folder or latest version can be found on http://www.gostai.com/bioloid.
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Step by Step manipulations to start with Urbi You have more than one hex file in the <INSTALL DIR>/bin/firmware/  folder: Standard _ firmware is the forwarder 57600.hex which has a 57600bps serial speed. _ Other firmwares use higher speeds, but depending of your hardware (usb to serial converter, type of serial port,...) these baudrates may not been supported. Do the test! Having a higher baudrate is better for quickly refreshing lots of variables. Procedure for flashing: Please note that a video follows all these steps to show you the procedure, you can find it in the video section: http://www.gostai.com/video. 1. Use the "robot terminal" software from Robotis (installed with your bioloid softwares). 2. Select connect menu, and choose your comPort and 57600 speed (speed is always 57600 when flashing) 3. Make sure your robot have batteries fully charged or is linked to a power supply. 4. Connect your CM-5 brick to the serial comPort of your computer. 5. CM-5 shut-off, press the '#' key on your keyboard (Alt Gr + 3 on azerty keyboard, shift + 3 on qwerty), keep '#' pressed and switch the CM-5 brick on, (see bioloid documentation for more precision on how to enter bootstrap mode) you must see this:
 SYSTEM O.K. (CM5 boot loader V1.xx)  -####### 6. You can release '#' key and type enter, to have a new blank line. 7. Press enter key and type load and press enter key again:
 SYSTEM O.K. (CM5 boot loader V1.xx)  -#######  -load  Write Address: 00000000  Ready.. 8. In menu bar select Files # Transmit file (shortcut Ctrl+T) and select the URBI bioloid firmware (hex file), click open . 9. After a few seconds, loading ends:
 Ready..Success  (and other information) If procedure fails, try again! In case of ' Rewriting:0x0002 ' message: you already have the good firmware flashed. First test: bioloid melody car Now build the "Melody Car" model as explained in the Robotis Beginner kit user's guide, and we will control this car using Urbi.
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Step by Step manipulations to start with Urbi
To send orders to your bioloid, you will need UrbiLab which is a graphical Interface for driving an Engine. You can download it there: http://www.gostai.com/download.php in the "Graphical interfaces" section.
• Open config.u with your favorite text editor, you can use the urbiLab embedded text editor. This file is located <INSTALL DIR>/gostai/Bioloid.data/config.u . Check on the line: _ var system.port="COM1"; that port definition correspond to your connected serial port. • Open URBI.INI  with same method as above. This file is located <INSTALL DIR>/gostai/Bioloid.data/URBI.INI . Check on the line _ Bioloid.connect(system.port,57600);  that speed (57600 here) corresponds to the firmware you flashed earlier. Now your hardware is configured !
• UrbiLab is by default configured to connect to an engine located on localhost:54000 . Nice, this is the configuration needed for Bioloid, so nothing to do, just click connect.
• You will obtain something like this:
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Step by Step manipulations to start with Urbi
In urbiLab, File menu, select open item and open the file named melody-car.urm located in UrbiLab default directory.
Now, you see a picture of the melody car with some buttons to control it,
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Step by Step manipulations to start with Urbi
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Step by Step manipulations to start with Urbi
click on the different buttons and see behaviours of your melody car.
Enjoy!
This is the end of this quick tutorial on how to setup Urbi for Bioloid.
Now you can write your own code to control your bioloid, according to documentation located here: http://www.gostai.com/bioloid.
To discover how to program in UrbiScript, and UObject/C++, page http://www.gostai.com/doc will help you.
Don't forget http://www.urbiforge.org where you can download behaviours for your bioloid and share your own!
In case you need help with Urbi & Bioloid, you can tell questions here: http://forum.gostai.com/, in the Bioloid section.
progress... other doc... demos...
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