eros:bluetooth_module

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dh4d:bluetooth [2016/03/24 19:37] wadmineros:bluetooth_module [2017/09/06 20:06] (current) – ↷ Page moved and renamed from dh4d:bluetooth to eros:bluetooth_module Pedro Ramilo
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 ===== Using the Bluetooth Interface Module ===== ===== Using the Bluetooth Interface Module =====
  
-The Bluetooth interface module can be optionally installed at factory, when we build your DHD4D hand+The Bluetooth interface module can be optionally installed at factory, when your unit is manufactured
-It provides a console using the Bluetooth Serial Port profile with similar functionality to the [[dh4d:usbconsole|USB console]]. The main difference with using Bluetooth is that you can access and Query the hand wirelesseven **while your robot is operating**.+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 [[eros:consolecommands|Console]].  
 + 
 +The firmware is capable of simultaneously receiving and process commands through the main connector the Consolewhich means you can perform **online, wireless diagnostics** and maintenance of your unit.
  
-In addition, the DH4D can simultaneously receive and process commands through the Dynamixel Protocol and the console, making it ideal for on-the-fly diagnostics, fine tuning and control. 
  
 ==== Connecting to your hand over Bluetooth ==== ==== Connecting to your hand over Bluetooth ====
  
 Each hand is configured at the factory with a broadcasting name ''SEED_[S/N]''. 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 [[dh4d:consolecommands|''bwn'']] console command.+For ease of use, you can change this name after connecting, using the appropriate [[eros:consolecommands|console command]].
  
 For security reasons, pairing with the hand is also protected by a code. The **default code is 1234**.\\ 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 and to prevent  unexpected movement and behavior of the hand caused by unauthorized users connected to it.+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 [[dh4d:consolecommands|''bwp'']] console command+Changing the pairing code is a very simple step and it done through the appropriate [[eros:consolecommands|console command]]. 
-(if you happen to lose your pairing code, it can be reset via the [[dh4d:usbconsole|USB Console]] with the ''bwp'' command or through the Dynamixel Protocol/Control Tables, in the appropriate address of the Virtual ID)+(if you happen to lose your pairing code, it can be reset via the [[eros:settingup_usbconnection|USB connection]]  or through the Dynamixel Protocol/Control Tables, in the appropriate address of the Main board ID)
  
 ==== Connection procedures ==== ==== Connection procedures ====
 === Windows Computer === === Windows Computer ===
 Ensure your computer has Bluetooth capability (or a Bluetooth adapter) and that Bluetooth is turned on. 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 witht he default Windows stack. If your computer uses a different Bluetooth stack, check your documentation.+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__ __Pair with the Hand__
-  * Apply power to the hand to turn it on, including the Bluetooth module.+  * Apply external power to the hand to turn it on.
   * Open Control Panel, choose "Devices and Printers"   * 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]''   * Click "Add a device" and wait for the hand to be discovered. The default name is ''SEED_[S/N]''
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 __Open a Terminal session with the Hand__ __Open a Terminal session with the Hand__
 +
 Next, you need to Open a Serial Terminal to send and receive commands to the Hand. Next, you need to Open a Serial Terminal to send and receive commands to the Hand.
 On Windows, [[http://www.chiark.greenend.org.uk/~sgtatham/putty/download.html|Putty]] or [[http://realterm.sourceforge.net/|Realterm]] are good options. On Windows, [[http://www.chiark.greenend.org.uk/~sgtatham/putty/download.html|Putty]] or [[http://realterm.sourceforge.net/|Realterm]] are good options.
   * Open your Terminal software   * Open your Terminal software
   * Select the COMM port that was created in the procedure above   * Select the COMM port that was created in the procedure above
-  * Select the baud rate: you 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.+  * 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'')   * Open the COMM and if asked for a Pairing Code, enter it (default is ''1234'')
  
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 === Android === === Android ===
  
-[TODO: check Windows phone instructionsthese will be similar but using the Android device Settings screen and an Adroid Serial Terminal app]+__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 handfrom 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.
  
  
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 __Pair with the Hand__ __Pair with the Hand__
  
-  * Apply power to the hand to turn it on, including the Bluetooth module.+  * Apply external power to the hand to turn it on.
   * On your Phone, go to "Settings"->Bluetooth   * On your Phone, go to "Settings"->Bluetooth
   * Wait for discovery to complete and select the device. The default name is ''SEED_[S/N]''   * Wait for discovery to complete and select the device. The default name is ''SEED_[S/N]''
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 __Open a Terminal session with the Hand__ __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. 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   * Open your Terminal software
   * Select the Bluetooth device name and click connect   * Select the Bluetooth device name and click connect
-  * Baud rate setting: you 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.+  * 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.   * __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 === === iPhone / iOS ===
-Currently the DH4D uses a Bluetooth 2.0 module. +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 module with SPP profile.\\+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 ==== ==== Troubleshooting ====
   * When I scan for devices using my phone or computer, my hand is not found   * 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 it's being manufactured. +    * 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. The unit must be powered up for the Bluetooth module to be on +    * 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 Dynamixel Protocol/Control tables. The [[dh4d:dynamixelcontroltables|Control table]] for the Virtual ID has a specific setting to power off the Bluetooth module in order to save energy. +    * 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 to the [[dh4d:usbconsole|USB console]] and issue the command ''did''. 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 ''bwn'' and ''bwp'' commands.+    * For advanced troubleshooting procedure, connect via [[eros:settingup_usbconnection|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 [[eros:consolecommands|console commands]].
  
-  * I send commands to the hand but it does not respond+  * 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     * 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.     * 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 services 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.+  * 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.
  
  

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  • Last modified: 2016/03/24 19:37
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