Robotis Dynamixel SDK

I’ve started on the Robotis Dynamixel SDK Quick Start Guide. Basically it is 9 videos that explain how to get a Dynamixel servo moving.

In episode 3.3 Software Preparation – Linux there is a criteria that gcc needs to be at least 5.4, me running ubuntu 14.04, I had 4.8 so I had to follow this guide on how to install it for my setup as a simple “sudo apt-get install g++-5” doesn’t work right out of the box on 14.04.

If gcc -v / g++ -v still says 4.8, then you need to update symlinks. Instructions are in the guide mentioned above.

As I am using the USB2AX instead of the Robotis USB2Dynamixel, so after adding some source files from the Xevel usb2ax repo, I was able to compile and run the “read_write.cpp” example from Robotis.

The code can be found here and next step is to get it working with the ps4 controller.

Dualshock 4

I got a new joystick for Christmas, an PlayStation 4 Dualshock controller. I decided that today was the day for setting it up. I assumed it wouldn’t be a big task, but I encountered some problems booting the NUC. I ended up disassemble the bot in order to remove one of the RAM modules. Need to investigate this further as I want to be able to use the full 16 GB that I have available.

Anyway, back to the DS4, the Bluetooth was somehow disabled, don’t know what have happened as I have used it previously with the DS3.  A quick

 sudo chmod +x /usr/sbin/bluetoothd
 sudo service bluetooth restart

did the trick. All you need to do then is to “pair” the controller just like any other bluetooth device.  Push and hold both the “PlayStation” and “Share” buttons at the same time until the controller starts blinking. It is now in “pairing” mode, then pair the controller with the computer using the bluetooth menu (bluetooth icon–>Set Up New Device…)!

sudo apt-get install jstest-gtk

This allowed me to setup the joystick, and display the raw values of the joystick. I was not able to see any data from the accelerometer and  gyroscope. I’ll leave that for now and revisit if I need this down the road.


-P- rebooted

I decided to stop my previous project, the ROSbonova, almost a year ago now as I decided it wouldn’t be able to deliver what I am looking for. Since then I have gathered parts and saved up some money to build a “HR-OS5 General Grievous” clone.

I had some difficulties getting the subdomain settings right for the blog and the wiki, and I have some other minor things that I want to fix before I’m satisfied with the setup, but I’ll I aim to start working on the robot and sharing the progress here in the blog.

I’ve already got most of the mechanical parts assembled, I’m missing some servos before it is complete. The idea is to write a small application to control each servo individual to find max, min and center limits. Then I might do the same with ROS integrated, making two small and easy tutorials for Dynamixel and ROS.