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dh4d:bluetooth [2016/03/24 19:37] – wadmin | eros: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 | + | The USB interface used the Bluetooth Serial Port profile |
+ | |||
+ | The firmware | ||
- | 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, | ||
==== Connecting to your hand over Bluetooth ==== | ==== Connecting to your hand over Bluetooth ==== | ||
Each hand is configured at the factory with a broadcasting name '' | Each hand is configured at the factory with a broadcasting name '' | ||
- | For ease of use, you can change this name after connecting, using the [[dh4d: | + | For ease of use, you can change this name after connecting, using the appropriate |
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 | + | We strongly recommend changing the default pin once you receive your hand. This should be done for security reasons to prevent |
- | Changing the pairing code is a very simple step and it done through the [[dh4d: | + | Changing the pairing code is a very simple step and it done through the appropriate |
- | (if you happen to lose your pairing code, it can be reset via the [[dh4d:usbconsole|USB Console]] with the '' | + | (if you happen to lose your pairing code, it can be reset via the [[eros:settingup_usbconnection|USB connection]] or through the Dynamixel Protocol/ |
==== 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 |
* Open Control Panel, choose " | * Open Control Panel, choose " | ||
* Click "Add a device" | * Click "Add a device" | ||
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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:// | On Windows, [[http:// | ||
* 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 '' | * Open the COMM and if asked for a Pairing Code, enter it (default is '' | ||
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=== Android === | === Android === | ||
- | [TODO: check Windows phone instructions; these will be similar but using the Android device Settings screen | + | __Pair with the Hand__ |
+ | |||
+ | * Apply external power to the hand to turn it on. | ||
+ | * On your Phone, go to " | ||
+ | * Wait for discovery to complete and select the device. The default name is '' | ||
+ | * Select the hand and click Connect | ||
+ | * If asked for the pairing code, enter it (the default pairing code is '' | ||
+ | |||
+ | This procedure only needs to be done once for your hand; from here on, the association | ||
+ | |||
+ | __Open a Terminal session with the Hand__ | ||
+ | |||
+ | * On the Play! store, download | ||
+ | * 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: | ||
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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 |
* On your Phone, go to " | * On your Phone, go to " | ||
* Wait for discovery to complete and select the device. The default name is '' | * Wait for discovery to complete and select the device. The default name is '' | ||
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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: | * __IMPORTANT: | ||
=== 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' | + | Unfortunately due to Apple' |
==== 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 | + | * 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. | + | * Check if the the Bluetooth module has been disabled using the Control tables. |
- | * For advanced troubleshooting procedure, connect | + | * For advanced troubleshooting procedure, connect |
- | * 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 '' | * Make sure you have the line termination set to '' | ||
- | * 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 | + | * 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 | ||
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