This post try to explain how to compile, load in the CM-5 (transmit) and execute a C program (a servo version of the “Hello World” classic example).
What do you need?
(You can find here how to start programming CM-5 / CM-510)
Obviously, some Bioloid hardware:
– The CM-5
– The battery or power source
– The serial cable
– An AX-12
– A cable to connect the AX-12 with the ID 17 to the CM-5. You can change the ID in the program.
What should you do?
1. Download and install the software:
1.- Download and install the Robotis RoboPlus software.
2.- Download and install WinAVR
3.- Download a Hello World example for WinAVR.
The C “Hello World” servo program is based in the original Robotis example.
4.- You should create a folder for your CM-5 program, for example c:myprojectscm5helloworld Copy there the previously downloaded helloworld.zip and unzip it.
2. Compile and link the program
1. Execute WinAVR and open the unzipped project:
( Bioloid User’s Guide.pdf could help you using WinAVR)
You should change the ID 17 of the servo for the ID of the servo you are using
2.- Compile and link. Make all:
3.- You should see “Errors: none”
4.- Transmit and execute the helloworld.hex to the CM-5
Well, if you only want to test the executable, you can download only the hex.
When loaded you should see an screen with two equal values as a correct “Checksum” check (in this example the value is 81, it’s calculated from the source code). If the values are not equal there is an error in the transmission.
5.- Every time you press the red MODE button the servo should spin