{"id":7013,"date":"2020-09-22T17:07:40","date_gmt":"2020-09-22T15:07:40","guid":{"rendered":"https:\/\/blog.generationrobots.com\/?p=7013"},"modified":"2023-03-29T10:54:37","modified_gmt":"2023-03-29T08:54:37","slug":"piloter-un-servomoteur-dynamixel-depuis-un-pc-via-bluetooth","status":"publish","type":"post","link":"https:\/\/www.generationrobots.com\/blog\/fr\/piloter-un-servomoteur-dynamixel-depuis-un-pc-via-bluetooth\/","title":{"rendered":"Piloter un servomoteur Dynamixel depuis un PC via Bluetooth"},"content":{"rendered":"\n\n \n

\n Ce tutoriel vous propose d’apprendre \u00e0 piloter facilement vos servomoteurs Dynamixel de Robotis \u00e0 votre ordinateur gr\u00e2ce \u00e0 une liaison Bluetooth. Cette manipulation vous permettra de r\u00e9aliser vos tests facilement tout en vous \u00e9pargnant les connexions filaires\n <\/p>\n \n \n

\n Mat\u00e9riel\u00a0requis\n <\/h2>\n \n \n
\n \n
\n Alimentation 12V\/5A.\n <\/li>\n \n \n
\n Module BT-410 Dongle.\n <\/li>\n \n \n
\n Module BT-410 Slave.\n <\/li>\n \n \n
\n Servomoteur Dynamixel (ici un MX-28).\n <\/li>\n \n \n
\n OpenCM9.04.\n <\/li>\n \n \n
\n OpenCM485\n <\/li>\n \n \n
\n C\u00e2ble 3 (ou 4) pins pour Dynamixel.\n <\/li>\n \n \n
\n C\u00e2ble micro USB.\n <\/li>\n \n <\/ul>\n \n \n
\n Software\u00a0requis\n <\/h2>\n \n \n
\n \n
\n Arduino IDE\n <\/li>\n \n <\/ul>\n \n \n
\n Installation\n <\/h2>\n \n \n
\n Branchements\u00a0:\n <\/h3>\n \n \n
\n \n
\n Brancher la carte\n \n OpenCM9.04\n <\/a>\n \u00e0 la carte\n \n OpenCM485\n <\/a>\n EXP.\n <\/li>\n \n \n
\n Connecter le\n \n servomoteur\n <\/a>\n \u00e0 la carte OpenCM485 EXP via le c\u00e2ble 3 (ou 4) pins Dynamixel.\n <\/li>\n \n <\/ul>\n \n \n
\n $\"Carte$ \n <\/figure>\n \n \n
\n \n
\n Brancher le\n \n BT-410 Slave\n <\/a>\n \u00e0 la carte OpenCM9.04 sur le port UART.\n <\/li>\n \n \n
\n Connecter la carte OpenCM9.04 au PC via le c\u00e2ble micro USB.\n <\/li>\n \n <\/ul>\n \n \n
\n $\"Etape$ \n <\/figure>\n \n \n
\n La carte OpenCM9.04 est allum\u00e9e et le module BT-410 clignote en bleu.\n <\/p>\n \n \n
\n Logiciel\u00a0:\n <\/h3>\n \n \n
\n \n
\n T\u00e9l\u00e9charger le logiciel\n \n Arduino IDE\n <\/a>\n .\n <\/li>\n \n \n
\n Lancer Arduino.IDE, aller dans\n \n Fichier\n <\/em>\n , puis\n \n Pr\u00e9f\u00e9rences\n <\/em>\n .\n <\/li>\n \n \n
\n Dans\n \n Pr\u00e9f\u00e9rences\n <\/em>\n , ins\u00e9rer le lien suivant dans la fen\u00eatre\n \n URL de gestionnaire de cartes suppl\u00e9mentaires\n <\/em>\n : https:\/\/raw.githubusercontent.com\/ROBOTIS-GIT\/OpenCM9.04\/master\/arduino\/opencm_release\/package_opencm9.04_index.json\n <\/li>\n \n <\/ul>\n \n \n
\n $\"\"$ \n <\/figure>\n \n \n
\n Cliquer sur\n \n Valider\n <\/em>\n .\n <\/p>\n \n \n
\n \n
\n Aller dans\n \n Outils\n <\/em>\n , puis\n \n Type de carte\n <\/em>\n et cliquer sur\n \n Gestionnaire de carte\n <\/em>\n .\n <\/li>\n \n \n
\n Rechercher la section\n \n OpenCM9.04 by ROBOTIS\n <\/em>\n , puis cliquer sur\n \n Installer\n <\/em>\n .\n <\/li>\n \n <\/ul>\n \n \n
\n $\"\"$ \n <\/figure>\n \n \n
\n \n
\n Fermer le logiciel Arduino.IDE, puis le lancer \u00e0 nouveau.\n <\/li>\n \n \n
\n Aller dans\n \n Outils\n <\/em>\n , puis\n \n Type de carte\n <\/em>\n . Dans la liste, s\u00e9lectionner\n \n OpenCM9.04 Board\n <\/em>\n .\n <\/li>\n \n \n
\n Aller dans\n \n Outils\n <\/em>\n , puis\n \n Port\n <\/em>\n . S\u00e9lectionner le port correspondant \u00e0 la carte OpenCM9.04.\n <\/li>\n \n <\/ul>\n \n \n
\n Fonctionnement\n <\/h2>\n \n \n
\n Setup\n <\/h3>\n \n \n
\n \n
\n Lancer Arduino.IDE.\n <\/li>\n \n \n
\n Aller dans\n \n Fichier\n <\/em>\n ?\n \n Exemples\n <\/em>\n ?\n \n OpenCM9.04\n <\/em>\n ?\n \n 08_DynamixelWorkbench\n <\/em>\n , puis cliquer sur\n \n h_Position\n <\/em>\n .\n <\/li>\n \n <\/ul>\n \n \n
\n $\"\"$ \n <\/figure>\n \n \n
\n \n
\n Une nouvelle fen\u00eatre s\u2019ouvre avec le setup requis pour commander le servomoteur.\n <\/li>\n \n <\/ul>\n \n \n
\n Programme\n <\/h3>\n \n \n
\n \n
\n \u00c9crire le programme voulu.\n <\/li>\n \n \n
\n T\u00e9l\u00e9verser le programme dans la carte OpenCM9.04.\n <\/li>\n \n \n
\n D\u00e9brancher la carte OpenCM9.04 du PC.\n <\/li>\n \n \n
\n Alimenter la carte OpenCM485 EXP \u00e0 l\u2019aide de l\u2019alimentation 12V\/5A et actionner l\u2019interrupteur.\n <\/li>\n \n \n
\n Brancher le module\n \n BT-410 Dongle\n <\/a>\n sur le PC. Approcher les deux modules afin de les pairer. Les modules sont synchronis\u00e9s lorsque le clignotement cesse.\n <\/li>\n \n <\/ul>\n \n \n
\n $\"\"$ \n <\/figure>\n \n \n
\n \n
\n Depuis le logiciel Arduino.IDE, aller dans\n \n Outils\n <\/em>\n ,\n \n Port\n <\/em>\n et s\u00e9lectionner le port correspondant au module BT-410 Dongle.\n <\/li>\n \n \n
\n Ouvrir le moniteur s\u00e9rie afin de communiquer avec la carte OpenCM9.04. Le moniteur doit \u00eatre r\u00e9gl\u00e9 sur 57600 bauds.\n <\/li>\n \n <\/ul>\n \n \n
\n Exemples de programmes\n <\/h2>\n \n \n
\n Commander le servomoteur\n <\/h3>\n \n \n
\n Permet de choisir la position du servomoteur entre la position 0 et la position 4095\n <\/p>\n \n \n
\n \n
\n Entrer la ligne de code \u00ab\n \n int Position_du_servomoteur\u00a0;\n <\/em>\n \u00bb en dessous de la ligne de code \u00ab\n \n DynamixelWorkbench dxl_wb;\n <\/em>\n \u00bb.\n <\/li>\n \n \n
\n Dans la fonction\n \n void setup()\n <\/em>\n , entrer la ligne de code\u00a0\u00ab\n \n Serial2.begin(57600);\n <\/em>\n \u00bb.\n <\/li>\n \n \n
\n Dans la fonction\n \n void loop()\n <\/em>\n , entrer les lignes de code suivante\u00a0:\n <\/li>\n \n <\/ol>\n \n \n
\n $\"\"$ \n <\/figure>\n \n \n
\n Enchainement de positions\n <\/h3>\n \n \n
\n Permet de lancer une s\u00e9rie de positions pr\u00e9d\u00e9finies quand une commande sp\u00e9cifique est donn\u00e9e (ici, la commande est \u00ab\u00a01\u00a0\u00bb).\n <\/p>\n \n \n
\n \n
\n Entrer la ligne de code \u00ab\n \n int Lancement_du_programme\u00a0;\n <\/em>\n \u00bb en dessous de la ligne de code \u00ab\n \n DynamixelWorkbench dxl_wb;\n <\/em>\n \u00bb.\n <\/li>\n \n \n
\n Dans la fonction\n \n void setup()\n <\/em>\n , entrer la ligne de code\u00a0\u00ab\n \n Serial2.begin(57600);\n <\/em>\n \u00bb.\n <\/li>\n \n \n
\n Dans la fonction\n \n void loop()\n <\/em>\n , entrer les lignes de code suivante\u00a0:\n <\/li>\n \n <\/ol>\n \n \n
\n $\"\"$ \n <\/figure>\n \n <\/body>\n<\/html>","protected":false},"excerpt":{"rendered":"
Ce tutoriel vous propose d’apprendre \u00e0 piloter facilement vos servomoteurs Dynamixel de Robotis \u00e0 votre ordinateur gr\u00e2ce \u00e0 une liaison Bluetooth. Cette manipulation vous permettra de r\u00e9aliser vos tests facilement tout en vous \u00e9pargnant les connexions filaires Mat\u00e9riel\u00a0requis Software\u00a0requis Installation Branchements\u00a0: La carte OpenCM9.04 est allum\u00e9e et le module BT-410 clignote en bleu. Logiciel\u00a0: Cliquer[…]
Read this article >><\/a><\/p>\n","protected":false},"author":188,"featured_media":7376,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[10527],"tags":[],"class_list":["post-7013","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-guides-et-tutoriels"],"_links":{"self":[{"href":"https:\/\/www.generationrobots.com\/blog\/wp-json\/wp\/v2\/posts\/7013","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.generationrobots.com\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.generationrobots.com\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.generationrobots.com\/blog\/wp-json\/wp\/v2\/users\/188"}],"replies":[{"embeddable":true,"href":"https:\/\/www.generationrobots.com\/blog\/wp-json\/wp\/v2\/comments?post=7013"}],"version-history":[{"count":5,"href":"https:\/\/www.generationrobots.com\/blog\/wp-json\/wp\/v2\/posts\/7013\/revisions"}],"predecessor-version":[{"id":12777,"href":"https:\/\/www.generationrobots.com\/blog\/wp-json\/wp\/v2\/posts\/7013\/revisions\/12777"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.generationrobots.com\/blog\/wp-json\/wp\/v2\/media\/7376"}],"wp:attachment":[{"href":"https:\/\/www.generationrobots.com\/blog\/wp-json\/wp\/v2\/media?parent=7013"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.generationrobots.com\/blog\/wp-json\/wp\/v2\/categories?post=7013"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.generationrobots.com\/blog\/wp-json\/wp\/v2\/tags?post=7013"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}

\n Installation\n <\/h2>\n \n \n

\n Fonctionnement\n <\/h2>\n \n \n

\n Exemples de programmes\n <\/h2>\n \n \n

\n Commander le servomoteur\n <\/h3>\n \n \n \n Permet de choisir la position du servomoteur entre la position 0 et la position 4095\n <\/p>\n \n \n