Interface Ez-b To A Trossen Robotics Hr-os1 Biped Robot

 
#1

My HR-OS1 HR-OS1 robot (Oscar) is connected to my laptop through a Windows 'Putty terminal' via WiFi. It has it's own IP address.

The operating programs are open sourced C++, the platform is Linux.
The controller is an Intel Edison interfaced to an Arbotix-Pro sub controller that drives the AX-12 Dynamical servos.
There is a PS3 controller that uses Bluetooth to send commands.

I am not very proficient in C++ or Linux but, with help, I stumble along.

Is there a way to connect EZ-B4 to the Intel Edison through WiFi?

I suppose I could connect via a Bluetooth-to-UART and utilize the PS3 controller commands but that would be very limiting.

A USB to UART connection might work but the Edison has very limited USB connections and to date, there is no supporting code for that.

#2

Replace the intel edison board with the ez-b?

Otherwise, use the UART on the EZ-B and ask for assistance on the Trossen forum for assistance using their C++ libraries on how to create a "UART listener" in their framework.

#3

DJ,

The Trossen path is a bit limited. They don't have a "DJ" to help customers out.
They do have a very active users forum but most of the questions/answers are very specific or way over my head.

I may have to go a step further. I'm thinking of replacing the Intel Edison/Arbotix-Pro with a Robotis CM-530. It controls all of the robots servos and the supporting software provides a friendly GUI for the development of task scripts and robot poses.

I have already made a UART interface between EZ-B4 and the CM-350.

You can mark this "resolved by DJ".

Thank you.

#4

Why not use an ezb? It controls those servos with this plugin: http://www.ez-robot.com/EZ-Builder/Plugins/view/39

#5

Have any plans for the intel edison?

If your planning on scrapping it I would be glad to pay the shipping for it.

#6

DJ,

I thought that I would have to give up the Robotis GUI interface to develop and control the robot's movements. There are 8 walking movements and 20 other actions already programmed in.
However, I think I will try to interface the EZ-B directly to the AX-12 servo chain.
(I might want to read from the chain for things like servo temperature, etc. later.)

The more I think about it, the more I like the idea. It will be a bit of a learning curve to set up the initial Autoposition settings, frames, and actions, but the simplicity and added capabilities should be worth it.

I have already added the EZ "hands" to the HR-OS1. I'll replace the WebCam with an EZ Cam.

Again, thanks.

#7

@orwnic82,

I'll keep the Intel for a while. It is a powerful controller.

#8

DJ,

An earlier version of EZ Builder referenced servos as D0, D1, D2,... AX1, AX2, AX3,...
Now there is only D0... and V0...

Must I change all my servos (D1 through D18) to V1 through Vi8?
How do I do that ?

Is there a way to read servo positions?

Thanks.

#9

The Dynamixel Servos are now supported by a plugin. DJ made it as an example plugin and made it open source.

Here is the link http://www.ez-robot.com/EZ-Builder/Plugins/view/39

Alan

#10

Thanks, Alan.
I have installed the plug in, reviewed it's documentation. I have also created a Auto Position script with 20 servos positioned and ready to number.