eros:bluetooth_module

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The Bluetooth interface module can be optionally installed at factory, when we build your DHD4D hand. It provides a console using the Bluetooth Serial Port profile with similar functionality to the USB console. The main difference with using Bluetooth is that you can access and Query the hand wireless, even while your robot is operating.

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.

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 ''bwn'' 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 and to prevent unexpected movement and behavior of the hand caused by unauthorized users connected to it.

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

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 witht he default Windows stack. If your computer uses a different Bluetooth stack, check your documentation.

Pair with the Hand

  • Apply power to the hand to turn it on, including the Bluetooth module.
  • 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 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

[TODO: check Windows phone instructions; these will be similar but using the Android device Settings screen and an Adroid Serial Terminal app]

Windows Phone

Pair with the Hand

  • Apply power to the hand to turn it on, including the Bluetooth module.
  • 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 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 DH4D uses 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.

  • 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. The unit must be powered up for the Bluetooth module to be on
    • Check if the the Bluetooth module has been disabled using the Dynamixel Protocol/Control tables. The Control table for the Virtual ID has a specific setting to power off the Bluetooth module in order to save energy.
    • For advanced troubleshooting procedure, connect to the USB console and issue the command bti. 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.
  • 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 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.

Copyright © 2015-2023 Seed Robotics Ltd

  • eros/bluetooth_module.1459193671.txt.gz
  • Last modified: 2016/03/28 19:34
  • by wadmin