Workshop: Programming a Bioloid robot workbench using C# and C++

This entry is part 1 of 6 in the series Bioloid Workshop

[Next post: Dynamixel communications with C#]

It would be a workshop using C# .Net and C++ with Qt 5. The code presented here is used in this two different robots and boards, a HP 214 Ipaq with Windows Mobile and a Raspberry Pi, using the Robotis CM-510 as the servo and sensors controller:

These will be the first steps, using C# and .Net , here the code and the exe for the Workbench UI:

Bioloid Workbench

Using this enhaced Toss Mode that adds some new functions.  Some of them:

CM-510 Sensors and Functions

And these are the base classes that allow to create it:

Bioloid common C# classes

Bioloid common C# classes

We will start connecting to the Dynamixel bus and sending commands and queries. These classes do the work:

DynamixelCommunications

SerialPort2Dynamixel

RCDataReader

Before we start, one question: why I am not using Robotis Dynamixel SDK?

Well, when I started programming Bioloid there were no SDK, so I start creating my own SDK. When the SDK was published I try it but it has two important handicaps:

– it only works with the USB2Dynamixel and I need that it should work with the serial port and with zigbee or bluetooth (really all 3 use the serial connection)

– there is no way to query the sensors connected to the CM-510

[Next post: Dynamixel communications with C#]

Series NavigationWorkshop: USB, serial and remote communications with C# >>

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