說明: 控制板: Roboard RB-100.
控制板作業系統: Windows XP Embedded(開機超快~)
軟體開發環境:
Windows 7
Visual Studio 2008
//============
先列出 Demo 程式 RoboRC.exe 中的命令/說明列表..
Parameters
-CH xxxxxxxx or --channels xxxxxxxx:
Specify the PWM channels to use
-t xxxx or --time xxxx:
Specify the time for realtime frame capture,
frame replay, and demo play
-SV [Generic, KONDO, HiTEC] or --servo [Generic, KONDO, HiTEC]:
Specify servo motors
-OW or --overwrite:
Always overwrite the file of storing captured frames
-NM or --nomessage:
Not display messages when capturing or replaying frames,
being useful to speed up CAPTURE_RT and REPLAYS_RT modes
//============Usage examples
RoBoRC.exe CAPTURE(or 0) 0000.txt -CH 000000ff: //Capture a single frame of servo positions on channels 0~7. //The frame is saved to 0000.txt. RoBoRC.exe REPLAY(or 1) 0000.txt -CH 000000ff -t 800: //Replay the single frame of servo positions in 0000.txt. //The frame is replayed on channels 0~7 by 800ms. RoBoRC.exe CAPTURES(or 00) 0000.frm -CH 0000ffff: //Capture multiple frames of servo positions on channels 0~15. //The frames are saved to 0000.frm. RoBoRC.exe REPLAYS(or 11) 0000.frm -CH 0000ffff -t 500: //Replay the multiple frames of servo positions in 0000.frm. //Each frame is replayed on channels 0~15 by 500ms. //=========== RoBoRC.exe CAPTURES_RT(or 000) 0000.frm -CH 0000ffff -t 300: //Capture in realtime multiple frames of //servo positions on channels 0~15 per 300ms. //The frames are saved to 0000.frm. RoBoRC.exe REPLAYS_RT(or 111) 0000.frm -CH 0000ffff -t 100: //Replay in realtime the multiple frames of //servo positions in 0000.frm. //Each frame is replayed on channels 0~15 by 100ms. RoBoRC.exe demo_directory -t 10000: //Load the Demo in demo_directory and //set the action idle time to 10000ms (which means that //the servo power will be turned off if the robot //idles over 10s after finishing an action).//===========
上面的說明一定要仔細閱讀..
在 Hitec 8498HB Servo 中的參數使用範例:
RoboRC CAPTURES 0000.frm -CH 0000ffff -SV -OW
測試 feedback position 功能正常..
影片:影片: ( 1080p HD 高清版 )
修改原廠程式RoboRC 中的一些小 bug
1. Initializing Servo 時, 顯示種類名稱錯誤.
2. 捕捉動作時的 servo 顯示種類名稱錯誤.
3. servo_idx 內定值 = 2 (這個一定要修改, Hitec 8498HB 才能正常 play frames ).
在 RoboRC.cpp Line 39.
以上~ 原廠附的 LIB, Demo 程式都已經測試無誤了,
請安心服用..
移植心臟照片, 由於忠實呈現移植畫面,
可能過於血腥, 請斟酌收看,
尤其未成年者,須由師長陪同.
原廠的控制板 MR-C3024, 24 Servos control
支解中 ...
特寫一張..控制板 MR-C3024
換上 Roboard RB-100 單板電腦.
特寫一張..
俯視照
換心完成~
疊疊樂一張... 機器人坐在 Roomba 電池和布丁桶上..適應新的心臟!
//=======================
補上一個 Roboard 程式開發好物
USB 傳輸線 PC to PC/Mac 很方便好用.. 提升很多效率..
黃色小屋買的, 幾百元而已.
真的不用安裝任何驅動和程式.
程式都已經寫在 ROM裡面了..
直接插上.. 開發機 (Win7) <---> Roboard (XPE)
