Configuration des moteurs

L'Ergo Jr est composé de 6 moteurs XL-320 fabriqués par Robotis. Chacun de ces servomoteurs possèdent une carte électronique lui permettant de recevoir différents types de commandes (sur sa position, sa vitesse, son couple...) et de communiquer avec d’autres servos. Vous pouvez chainer ces servomoteurs entre eux et tous les commander depuis un bout de la chaîne.

XL320

Cependant, afin d’être connecté et identifié sur le même bus (de donnée), ils doivent avoir un identifiant unique. Out of the factory they all set to the same ID (1). Dans cette section, nous vous donnerons plus de détails sur comment vous pouvez définir un nouvel identifiant unique à chacun de vos moteurs.

Nous vous recommandons de configurer des moteurs en parallèle de l’assemblage des pièces du robot. Ce qui signifie qu’avant d’assembler un moteur neuf, vous commencez par le configurer puis le monter sur le reste du robot. Pendant la procédure d'assemblage, nous indiquerons chaque fois qu'il faut configurer un nouveau moteur.

Turn on the robot

If you use Windows or Linux (not needed for Mac OSX) you'll first need to install Bonjour/Zeroconf (download link for Windows) to be able to connect to the robot. Look at Bonjour/Zeroconf protocol dedicated page for more details.

Before configuring the motors, you'll have to turn on the robot:

  • plug the Ethernet wire from the robot to your computer (or your router/box if you want to use an existing network)
  • plug the DC power on the pixl board

You can now go to your robot web home page on http://poppy.local.

If Bonjour is not present, you will have an error message like the one below. If Bonjour is installed and the issue still present, please re-install it. Page doesn't exist

Configuring motors one at a time

As explained above, all motors have the same ID by default. Only one motor at a time should be connected to the data bus when you configure them. Otherwise, it will not work as all motors connected will think that the order sent on the line is intended for them, they will all try to answer resulting in a big mess.

Your electronic setup when configuring a motor should look like this:

  • a Raspberry Pi
  • a Pixl shield on top and the AC plugged
  • a wire from the shield to the motor you want to configure
  • an Ethernet cable going from the Raspberry Pi to your computer or your router

XL-320 configuration ; one motor at a time.

Utilitaire en ligne de commande

Robots come with a command line utility poppy-configure ; to use it you'll need to open a terminal on your Raspberry Pi.

To do so, first, open the page http://poppy.local in a web browser.

If everything goes well, you should see the Poppy home page:

Poppy home page

Click on the "Jupyter — Python" link and after, select on the right "New" and "Terminal". Terminal Jupyter

You have now access to the Terminal:

terminal for configuration

Once the terminal is open, re-copy the command below and press enter to execute it.

poppy-configure ergo-jr m1

After a few seconds you will see the following message: terminal for configuration 2

You have now configured the motor m1 of your robot, congratulation !

Once configured and that you see the message indicating that everything went well, you can unplug the motor (the Raspberry Pi can stay powered). The configuration is stored in the motor internal memory (eprom).

Poppy Ergo Jr motors are named m1, m2, m3, m4, m5, m6. To configure the others motors, you have to change m1 by the name of the motor you want to configure in the command above.

Motors list

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