The Bluetooth interface module can be optionally installed at factory, when your unit is manufactured. The USB interface used the Bluetooth Serial Port profile which creates a Virtual COMM port on the Host device. By default it is configured to expose the Console.

The firmware is capable of simultaneously receiving and process commands through the main connector the Console, which means you can perform online, wireless diagnostics and maintenance of your unit.

Connecting to your hand over Bluetooth

Each hand is configured at the factory with a broadcasting name SEED_[S/N]. For ease of use, you can change this name after connecting, using the appropriate console command.

For security reasons, pairing with the hand is also protected by a code. The default code is 1234.
We strongly recommend changing the default pin once you receive your hand. This should be done for security reasons to prevent unexpected behavior caused by unauthorized access.

Changing the pairing code is a very simple step and it done through the appropriate console command. (if you happen to lose your pairing code, it can be reset via the USB connection or through the Dynamixel Protocol/Control Tables, in the appropriate address of the Main board ID)

Connection procedures

Windows Computer

Ensure your computer has Bluetooth capability (or a Bluetooth adapter) and that Bluetooth is turned on. We will describe the basic procedure on Windows >7 with the default Windows stack. If your computer uses a different Bluetooth stack, check your documentation.

Pair with the Hand

  • Apply external power to the hand to turn it on.
  • Open Control Panel, choose “Devices and Printers”
  • Click “Add a device” and wait for the hand to be discovered. The default name is SEED_[S/N]
  • Select the hand and click Connect
  • If asked for the pairing code, enter it (the default pairing code is 1234)
  • This will pair the Device with your computer and create a Virtual COMM Port associated with this device.

This procedure only needs to be done once for your hand; from here on, the association will be stored in your computer.

Open a Terminal session with the Hand

Next, you need to Open a Serial Terminal to send and receive commands to the Hand. On Windows, Putty or Realterm are good options.

  • Open your Terminal software
  • Select the COMM port that was created in the procedure above
  • Select the baud rate: you can use up to any supported Baud Rate but please bear in mind that internal communication between the Bluetooth module and the electronics is throttled at 115200bps.
  • Open the COMM and if asked for a Pairing Code, enter it (default is 1234)

IMPORTANT: When sending commands to the hand, all commands must be terminated by CR+LF. Serial Terminals usually allow the user to select the line ending. Make sure is correctly set to CR+LF or otherwise the hand may not recognize the commands.

Linux Computer

[TODO]

Android

Pair with the Hand

  • Apply external power to the hand to turn it on.
  • On your Phone, go to “Settings”→Bluetooth
  • Wait for discovery to complete and select the device. The default name is SEED_[S/N]
  • Select the hand and click Connect
  • If asked for the pairing code, enter it (the default pairing code is 1234)

This procedure only needs to be done once for your hand; from here on, the association will be stored in your phone.

Open a Terminal session with the Hand

  • On the Play! store, download and install a suitable Serial Terminal and connect to the unit. There are several free options available.
  • Baud rate setting: you can use up to any supported Baud Rate but please bear in mind that internal communication between the Bluetooth module and the electronics is throttled at 115200bps.
  • IMPORTANT: When sending commands to the hand, all commands must be terminated by CR+LF. Serial Terminals usually allow the user to select the line ending. Make sure is correctly set to CR+LF or otherwise the hand may not recognize the commands.

Windows Phone

Pair with the Hand

  • Apply external power to the hand to turn it on.
  • On your Phone, go to “Settings”→Bluetooth
  • Wait for discovery to complete and select the device. The default name is SEED_[S/N]
  • Select the hand and click Connect
  • If asked for the pairing code, enter it (the default pairing code is 1234)

This procedure only needs to be done once for your hand; from here on, the association will be stored in your phone.

Open a Terminal session with the Hand

Next, you need to have a Serial Terminal application to communicate with the hand. You can find several free options in the Windows store. We use BT Terminal ourselves.

  • Open your Terminal software
  • Select the Bluetooth device name and click connect
  • Baud rate setting: you can use up to any supported Baud Rate but please bear in mind that internal communication between the Bluetooth module and the electronics is throttled at 115200bps.
  • IMPORTANT: When sending commands to the hand, all commands must be terminated by CR+LF. Serial Terminals usually allow the user to select the line ending. Make sure is correctly set to CR+LF or otherwise the hand may not recognize the commands.

iPhone / iOS

Currently the Seed Robotics units use a Bluetooth 2.0 module. Unfortunately due to Apple's own licensing restrictions, it is not possible to connect a stock iOS device to a generic Bluetooth 2.0 module with SPP profile.

Troubleshooting

  • When I scan for devices using my phone or computer, my hand is not found
    • Check if your hand has the Bluetooth module installed. Bluetooth is an optional component that must be fitted when your hand is manufactured.
    • Make sure your hand is powered up, using External Power. If you are connecting to the hand over USB without applying external power, only the main processor is powered. External power is required to power the Bluetooth module.
    • Check if the the Bluetooth module has been disabled using the Control tables. They have a specific setting to power off the Bluetooth module in order to save energy.
    • For advanced troubleshooting procedure, connect via USB and issue the command about and status. It will report if the Bluetooth module is installed, its power status and the name and pairing codes. If necessary reset the name and pairing code using the appropriate console commands.
  • I send commands to the hand but it does not respond:
    • Ensure you are properly connected to the hand and that it is powered up
    • Make sure you have the line termination set to CR+LF. The unit expects a CR+LF at the end of each command. This is an option in most Serial Terminal applications, so please ensure it is set accordingly.
  • I did not order the Bluetooth module with my Hand but now I want it!
    • The Bluetooth module is fitted at the factory. Therefore installing a module on an existing hand involves modifying or replacing the main controller board. You'll need to send your hand to the Seed Robotics Technical HQ and we'll be happy to take care of that for you. Please get in touch with support@seedrobotics.com to obtain a Quotation and make the necessary arrangements.

Copyright © 2015-2019 Seed Robotics Ltd

  • eros/bluetooth_module.txt
  • Last modified: 2017/09/06 16:06
  • by pedro.ramilo