Emys User Guide
Contents
1. It is possible to add sound to choose expressions with SOUND MANAGEMENT section To load a file click LOAD button and choose the WAV file To stop playing previous sound press Set Stop button 16 BAS E MANAGI EMENT 3 2 Changing port name in Windows section 8 Repeat steps 4 7 to add more face expressions 9 Start face expressions performance by clicking PLAY in the STATE TESTER section 10 Individual expressions can be modified or removed via the BAS E MANAGEMI section ENT INFO When an expression is removed from the list a gap in the section numbers might occur which will cause the robot to stop executing the pro gram 3 2 Changing port name in Windows If is often observed in the case of Windows that after connecting a new USB Serial Converter it is installed as a COM device with very high number In such a case it is advised to assign a fixed name to such the device The following instruction describes how to do this e Right click My Computer and select Properities Manage Recycle Bin Map network drive Disconnect network drive Create shortcut Delete Rename Properties e Select the Device Manager tab 17 3 SOFTWARE EXAMPLES lt a M gom Control Panel All Control Panel Items gt System Control Panel Hi A Ar i oniro Fane View basic information about your computer Device Man2. a 3 3 2 2 Compilation and installation iii 4 Support 3 3 2 3 Configuration 2 0 2 ee ee 3 3 2 4 Contents 3 3 2 5 Examples Introduction Emys is a robotic head designed to make long term relationship with a human It was initially prototyped at the Wroclaw University of The Technology in the Euro pean funded research project named LIREC Unique shape of Emys was designed by The mechanical project and parts manufacturing was done by Control system for Emys was created at A head for socially aware robot plays a fundamental role in the interaction with humans It should be able to generate gestures and emotions easily understandable for a human This requires that the head should be in some way similar to the human one Finding a good shape of the robot head is a very crucial problem Generally it is very hard to create an anthropomorphic head that is well accepted by people Therefore Emys does not pretend to be similar to a human It is technically inspired and its shape is in some way similar to turtle comics like head that explains the etymology of the Emys name Emys orbicularis is latin name for European pond turtle Emys head consists of three separated discs what can be seen in Figure The middle disc is mounted stiffly to a neck while the lower and the upper ones are able to change their pitch angles The head is mounted to a basis via the neck which is able to change the pitch and the yaw ang
3. dev ttyUSBO Serial device int baudrate 57600 Baud rate of serial device uint8_t fromID 0x00 First id uint8_t toID 0x05 Last id int main int argc charx argv Dynlink dynlink Main object of Dynlink class if argc 1 amp amp argc 3 amp amp argc 4 amp amp argo 5 cerr lt lt Wrong number of arguments lt lt endl cout lt lt Usage n texamplel fromID toID pathtodevice baudrate lt lt endl exit 1 if argc gt 3 fromID static_cast lt uint8_t gt atoi argv 1 get first id toID static_cast lt uint8_t gt atoi argv 2 get last id if argc gt 4 deviceName argv 3 get device path if argc 5 deviceName argv 4 get baud rate if dynlink open deviceName baudrate open serial device cerr lt lt Can t open device lt lt deviceName lt lt lt lt endl exit 1 Data8 ids 0 Empty array of actuators id Add actuators with id from 0x00 to 0x05 x for uint8_t id fromID id lt toID id I cout lt lt Try to add actuator id lt lt static_cast lt int gt id lt lt endl if dynlink addServo id if actuator exists cout lt lt Found actuator at id lt lt static cast lt int gt id lt lt endl ids push_back id Collect found actuators 22 3 3 Linux cout lt lt ids size lt lt actuator s are found lt lt endl dynlink close Close co
4. position 3 Switch on Emys Station 4 Release Emys head which is now ready to use 2 4 Switching off Emys This section describes how to finish work with Emys head 1 Stop all Emys head servos 2 Gently grab Emys head middle disc 2 WORK WITH EMYS dd Upper Disc ID 6 yeli a Right Eye ZEW Trans ID 5 4 Left Eyelid ID 2 ON Left V Right Eyebrow Eyebrow ID 3 Trans ID 4 ID 0 Si Neck Upper Neck Lower Tilt 1 ID 10 O Neck Lower Y Tilt 2 ID 11 Neck Pan ID 9 Figure 2 4 Emys joints layout 3 Turn off Emys Station 4 Move gently Emys head to a secure position 5 Disconnect Emys Station from power 6 Disconnect Emys Station from PC 2 5 Emys servos Emys head contains 12 servos recognised by an individual number ID indicated below 2 5 Emys servos ID 0 Right eyebrow HS 65HB ID 1 Right eyelid HS 65HB ID 2 Left eyelid HS 65HB ID 3 Left eyebrow HS 65HB ID 4 Left eye transition RS10N11M B103 ID 5 Right eye transition RS10N11M B103 ID 6 Upper disc RX 28 ID 7 Lower disc RX 28 ID 8 Upper neck RX 28 ID 9 Neck pan RX 64 ID 10 Lower neck 1 RX 64 ID 11 Lower neck 2 RX 64 Servos Placement in the head and the joints related with them are presented in Figure All the servos are connected into one network based on EIA 485 The commu nication with all the servos happens via Robotis Dynamixel protocol see Dynamixel manual INFO Please note that n
5. 0 1023 Example gt gt very_simple_EMYS exe COM1 0 512 100 E EN Administrator C Windows system32 cmd exe gt aja Users Janek Documents Wisual Studio 2668 Projects CH very_simple_EMYS gt very_sif mple_EMYS COM2 8 512 168 Port has opened successful frame sended Users Janek Documents Wisual Studio 2668 Pro jects CH very_simple_EMYS gt _ 3 1 2 simple EMYS Info simple_EMYS application allows for moving a single joint to a given position with given velocity It is very similar to very_simple_EMYS but it is extended by a graphical interface Language This example is delivered both in C and C Compiler Microsoft Visual Studio 2008 Usage gt gt simple_EMYS exe Choose port name that Emys is connected to Click OPEN button to open the port Select desired joint from JOINT combobox see Figure 2 4 Control joint position and velocity with sliders 14 3 1 Windows CG OT EF EMotive headY System i Connection Port Name COM2 y CLOSE Motion parameters JOINT 0 eft eye y POSITION 362 U VELOCITY 299 Y Frame sended 3 1 3 EMYS Info EMYS is the most complex example This application allows for reproduction of movement series It provides graphical interface that allows to set desired configuration of Emys joints Operator can modify for each joint both position and velocity Positions can be stored in memory and reproduced step by
6. The front panel is equipped with a power switch and a LED indicating power status The following sockets are placed on the rear panel of Emys Station power USB Emys servos network The elements layout on the panels is illustrated with Figures 2 1 and 2 2 Setting up Emys This section describes how to prepare Emys head to operate To this aim one should 1 Firmly attach Emys Head to a fix basis e g to a table with two carpenter clamps or to a robot with screws 2 Connect Emys servo network cable to Emys Station Figure 2 3 2 WORK WITH EMYS Power Switch Power LED Figure 2 1 Front panel of Emys Station Power Socket Fan Free USB SUPPLY RS485 Emys Servos Computer Camera Figure 2 2 Rear panel of Emys Station 3 Connect Emys camera cable to Emys Station Figure 2 3 4 Imstall Manhattan Serial USB Converter driver from the attached CD Windows only 5 Install Logitech QuickCam Sphere AF driver from attached CD When asked to connect camera please connect Emys Station miniUSB socket with your PC USB socket 2 3 Switching on Emys After setting up Emys head one can switch it on To this aim please 2 4 Switching off Emys Emys Station Power Emys Computer Figure 2 3 Connecting cables to Emys Station 1 Connect Emys Station to a single phase 100 240 VAC Figure 2 3 2 Grab gently Emys head middle disc and place it in the approximately vertical
7. USB Converter e Power supply single phase 100 240 VAC Fused 2 6 A Windows and Linux compatible 1 2 Product Contents After the opening of Emys box please ensure that it contains all the elements presented in Figure 1 2 If any of them is missing please contact your distributor Emys Station Power Cable User Guides CD ROM Figure 1 2 Emys box content 1 INTRODUCTION The package includes the following CD ROMs e Emys Solution Disc e Manhattan Serial USB Converter Disc e Logitech QuickCam Sphere AF Disc and documents e Emys User Guide e Emys Programmer Guide e Robotis Dynamixel RX 28 Manual e Robotis Dynamixel RX 64 Manual e Manhattan Serial USB Converter User Guide e Logitech QuickCam Sphere AF User Guide e Logitech 4 Port USB Hub User Guide 1 3 Requirements To opperate Emys robot requires a PC computer with Windows XP Vista 7 or Linux system with at least one USB 1 1 or 2 0 port free Before operating the head must be firmly attached to a fixed basis Emys head must be secured from hitting hard objects Work with Emys 2 1 Emys Station Emys Head is delivered with Emys Station This part is not required by Emys Head to opperate but it makes work with the robot much easier The Station part integrates the following components e Power Supply e USB Hub e USB to EIA 485 Converter Emys Station has two functional panels the one in the front of it and the other on its back
8. Emys User Guide FA CA Wroc aw University Kubasek Krzysztof KK of Technology Design Studio 2010 Emys User Guide Copyright c 2010 by Wroclaw University of Technology Lead Editor Lukasz Malek Editors Board Jan Kedzierski Adam Oleksy Reviewer Robert Muszynski WROCLAW UNIVERSITY OF TECHNOLOGY IS THE OWNER OF THE DESIGN AND MECHANICAL PROJECT OF EMYS ROBOTIC HEAD AND ITS COMPO NENTS EMYS AND ITS PARTS CANNOT BE REPRODUCED WITHOUT WRIT TEN PERMISSION OF THE PROJECT OWNER LIREC USE ONLY All right reserved No part of this work may be reproduced stored in a retrieval system or transmitted in any form or by any means electronic mechanical photocopying microfilming record ing or otherwise without written permission from the Publisher with the exception of any material supplied specifically for the purpose of being entered and executed on a computer system for exclusive use by the purchaser of the work Wybrzeze Wyspianskiego 27 50 370 Wroclaw Poland Safety Do NOT power on the robot before reading and fully understanding the operation procedures explained in this manual Neither the robot nor the program is bug free accidents can you have to make sure that the robot always maintains a safe distance from people during operation The robot should be turn off i e the power switch should be on the OFF position when not in used Robot MUST be firmly attached to fixed basis Robot MUST b
9. ager Windows edition 6 Remote settings Windows 7 Professional 5 System protection Copyright 2009 Microsoft Corporation All rights resen 9 Advanced system settings Get more features with a new edition of Windows 7 e Find the device group Ports COM LPT Select the newly installed device In this case it will be Profilic USB to Serial Comm Port Click the right mouse button over selected device and choose Properities m Bluetooth Peripheral Device Bluetooth Peripheral Device m Bluetooth Peripheral Device lm Bluetooth Peripheral Device b PCMCIA adapters 4 77 Ports COM amp LPT gt Prolific USB to Serial Comm Port COM22 J Standard Serial over Bluetooth link CO US SESE gt 2 Processors Disable b DP Security Devices Uninstall p j SM Driver b af Sound video and game controllers Scan for hardware changes b lt gt Storage controllers Pi ti gt M System devices b Universal Serial Bus controllers b USB Virtualization 4 e Choose Port Settings tab and select Advanced button Prolific USB to Serial Comm Port COM28 Properties General Port Settings Diver Details Bs pesca Daab Pay opa Pow cor 18 3 3 Linux e In this window it is possible to select desired port name for this device COM8 in use OMS in use COM10 in use COM11 in use apy COM12 in use sM COM13 in use COM14 in
10. e secured from hitting obstacles WARNING In case of sudden power loss robot will be not controlled and will move freely what might lead to unexpected contact with human and or obstacles WARNING It is highly recommended NOT to change the range of the movements WARNING Failure to follow these safety guidelines could cause serious injury or death to a user and or damage to the robot Contents 1 Introduction 1 1 Key features e i scs e open teps amb o a O a ere a 1 2 Product Contents LL La e erea aes aea na ee 1 8 Requirements 2 c5ssrss ss rasa waw Ki W 2 Work with Emys 2 1 EmiyssStation e 4 na os ces add ad ns A 2 2 Setting up EMYS cima ir eS lo es WIE se ee 2 3 Switching on Emys a 2 4 Switching off EMYS s s s aos boir s awen paesa daa AA 2 0 HMAYSSEEVOS4 4 11 YR 4 RA e a ST Gaw Bee a 2 6 Eye movement servos limited functionality a 1 222221 2 0 Camera tw wwa ada wie a koko Bzyk x 3 Software examples 1 Windows 242 84 4 4 Se be a 6 4 ate x 1 veryesamplecEMYS Seco wew wia ma A ae EG 3 152 SIMOLEGEMYS sta ak Stree oo es a a RSS arts 3 3 EMYS x a ar oh koi l ee ee Boge dee Ausa nai eb Wash we ee 3 3 2 Changing port name in Windows 0 0000 eee 390 LIDUX ce has lk hp ey A Bah BAR OO bE Ae eae 4 koes 3 3 1 very simple EMYS simple EMYS EMYS 3 3 2 Dynlank library ios eie de po da ee ee Pe a 3 3 2 1 Requirements
11. from servos 1 Parameters start address must be 0 and number of parameters must be 19 2 Position address 36 0x24 number of parameters must be 2 3 Moving address 46 0x2E number of parameters must be 1 WRITE DATA 0x03 This command writes data to servos 1 Enable Disable torque address 24 0x18 number of parameters must be 1 10 2 7 Camera 2 Enable Disable LED address 25 0x19 number of parameters must be 1 3 Set Position address 30 0x1E number of parameters must be 2 4 Set Position and Velocity address 30 0x1E number of parameters must be 4 5 Set Velocity address 32 0x20 number of parameters must be 2 2 7 Camera The camera mounted inside Emys middle disc has been rotated along the roll angle by 90 degrees from its regular position Therefore the image from the camera has to be transformed by 90 degrees to the right This can bee easily achieved with use of OpenCV library The transformation in C C language can be done with the following code Listing 2 1 Image rotation with OpenCV in C IplImagex framel cvQueryFrame capture IplImage correct CvCreateImage CvSize image gt height image gt width IPL_DEPTH_8U 3 CvFlip image image 1 CvTranspose image correct To perform the image transformation in C language it is useful to apply cvlib OpenCV wrapper Listing 2 2 Image rotation with OpenCV in C IplImage image cvlib C
12. les In Emys middle disc two eyes are mounted that are able to move out of it Each eye has an eyelid which can rotate by changing pitch and roll angles Please notice that Emys eyes do not allow to perceive Emys is able to capture images with a camera mounted in the middle disc between the eyes Due to the location of the camera it is usually interpreted by humans as Emys nose hole 1 INTRODUCTION Upper Eyelid Eye Supporting Middle Structure Disc Camera Lower Figure 1 1 Emys head 1 1 Key features e Height 35 cm to head connector e 11 degrees of freedom 3 neck 1 chin 1 forehead 2 eyes 4 eyelids e 6 digital servos Robotis Dynamixel RX 28 and RX 64 e 4 analog RC servos Hitec HS 65HB e 2 motor driven slide potentiometer Alps RS10N11M B103 e Outer head shells manufactured in SD fast prototyping technology e Freescale HC9512A64 microcontroller e FIA 485 standard for electrical characteristics of communication interface e Robotis Dynamixel protocol e Logitech QuickCam Sphere AF camera Carl Zeiss optics Autofocus lens system Ultra high resolution 2 megapixel sensor with RightLight Color depth 24 bit true color Video capture Up to 1600 by 1200 pixels HD quality Frame rate Up to 30 frames per second 1 2 Product Contents High Speed USB 2 0 e Logitech 4 Port USB Hub 2 ports available for the user RS 232 EJA 485 Converter e Manhattan Serial
13. lt uint8 t gt atoi argv 1 Get id number position static_cast lt uint16_t gt atoi argv 2 Get position speed static_cast lt uint16_t gt atoi argv 3 Get speed if argc gt 4 deviceName argv 4 Get path to device if argc 6 baudrate atoi argv 5 if dynlink open deviceName baudrate try open serial device cerr lt lt Can t open device lt lt deviceName lt lt lt lt endl exit 1 if dynlink addServo id try to add actuator with id cout lt lt Actuator with id lt lt static_cast lt int gt id lt lt does not exist lt lt endl dynlink close exit 1 dynlink setMovingSpeed id speed Set speed dynlink setGoalPosition id position Set position cout lt lt Actuator lt lt static_cast lt int gt id lt lt is moving to position lt lt static_cast lt int gt position lt lt with speed lt lt static_cast lt int gt speed lt lt endl uint8_t moving 0 do dynlink getMoving id amp moving while moving cout lt lt Actuator has reached the target position lt lt endl dynlink close return 0 24 4 Support More information about Emys can be found on Emys webpage http emys lirec ict pwr wroc pl After login on this page a section Support will appear In this section one can find drivers manual examples and libraries related with Emys SUPPORT ACCESS Userna
14. me E Remember me Emys s Partners Linke Figure 4 1 Emys webpage login section 25 4 SUPPORT Each user has its individual login and password Your login and password for Emys webpage can be found bellow For support please contact with authors of Emys prototype at Wroclaw University of Technology The contact persons are jan kedzierskiQpwr wroc pl for hardware related questions adam oleksyQpwr wroc pl for software related questions 26
15. nnection return 0 The second example presents how to control a single servo Similar to the previous example it opens serial port dev ttyUSBO with baudrate 57600 Next it adds to Dynlink network a servo with ID specified by user After success in adding the servo program sets a servo speed After setting new servo position the motor should start acting Finally program waits until the servo finishes its movement Listing 3 2 Dynlink library servo control example example2 cpp Created on 07 12 2010 Author aoleksy ej k This example shows how to communicate with the actuators tinclude Dynlink h include lt boost cstdint hpp gt include lt string gt include lt iostream gt include lt cstdlib gt using namespace std using namespace dynlink Path or name of serial device string deviceName dev ttyUSB0 Path or name of serial device int baudrate 57600 Baud rate of serial device uint8_t id Id of actuator uint16_t speed Speed of movement uint16_t position Goal position int main int argc char argv Dynlink dynlink Main object of Dynlink class 23 3 SOFTWARE EXAMPLES if argc lt 4 argc gt 6 Control numbers of arguments cerr lt lt Wrong number of arguments lt lt endl cout lt lt Usage lnitexample2 id position speed pathtodevice gt baudrate lt lt endl exit 1 id static cast
16. ot all the driving the eyes fully implement Dynamixel protocol The servo communication network cable consist of 4 wires In Emys head these wires are marked according to the convention presented in Table 2 1 Emys network is Emys symbol Description GND ground zero VCC power supply line non inverting data line W gt inverting data line Table 2 1 Emys network lines 2 WORK WITH EMYS Figure 2 5 Emys network terminal connector terminated by a 4 pin euro style connector presented in Figure 2 5 INFO All the servos mounted in the head have Status Return Level address 16 0x10 set to 1 It means that the servo returns data only for the READ_DATA command WARNING It is highly recommended NOT to change the range of the servos movements 2 6 Eye movement servos limited functionality Servos driving the robot eyes indicated by ID numbers from 0 to 5 do not fully implement Dynamixel protocol Their functionality allows for obtaining the elements movements but they do not support advanced Dynamixel servos features For all these 6 servos one Freescale MC9512A64 microcontroller is utilised to translate Dynamixel protocol commands to the individual analog servos commands Servos marked as ID 0 5 implement the following Dynamixel commands PING 0x01 No execution It is used when controller is ready to receive Status Packet READ DATA 0x02 This command reads data
17. ou can find subdirectories doc exam ple src 3 3 2 4 Contents doc html this directory contains documentation of Dynlink library in html format example this directory contains two examples which show how to use Dynlink class src this directory contains static library with header which can be used in your projects 3 3 2 5 Examples Dynlink library is delivered with two examples First one presents how to open connection with serial port and how to add several actuators to Dynlink network The source code of this example is illustrated in Listing This example starts from defining the serial port parameters like device name dev ttyUSBO and baudrate 57600 The program creates main Dynlink object name dynlink and open communication with it After establishing communication it tries to add 6 servos with ID number from 0 to 5 Listing 3 1 Dynlink library connection initialization example examplel cpp ok Created on 30 11 2010 Author aoleksy This example shows how to open connection with serial port and add several actuators to object of Dynlink class include Dynlink h Main header of Dynlink class include lt boost cstdint hpp gt Defines uint8_t and uint16_t used in Dynlink class include lt string gt include lt iostream gt 21 3 SOFTWARE EXAMPLES include lt cstdlib gt using namespace std using namespace dynlink string deviceName
18. servos control and configuration This library is described in detail in separate document 3 3 2 1 Requirements The Dynlink library requires the Boost library in version 1 36 0 The current package has not been tested with higher versions of Boost The home download page of Boost is http www boost org The Dynlink need CMake to build binaries from sources The home download page of CMake project is http www cmake org To build documentation you need Doxygen which is available in home page of Doxygen project http www stack nl dimitri doxygen index html Those packages are usually available in all Linux distributions and for Windows platforms 3 3 2 2 Compilation and installation The simplest way to build the Dynlink is a sequence of commands in root of project directory gt gt mkdir build gt gt cd build gt gt cmake see configuration gt gt make gt gt make doc optional gt gt make install optional 3 3 2 3 Configuration Before compilation you are able to configure some parameters of this project To do this use ccmake or cmake gui tool The most important parameters are CMAKE INSTALL PREFIX location where Dynlink library will be installed CMAKE_BUILD_TYPE available in advanced mode you can choose between Release or Debug After configuration you can start build the project by typing 20 3 3 Linux gt gt make After build the Dynlink in build directory y
19. step Language This example is developed in C Compiler Microsoft Visual Studio 2008 Usage gt gt Emys exe Example The typical work with this application is described by the following steps 1 Use Load state from the top menu to load a clear state sheet from base folder Note the base folder has to be in the same directory as Emys exe 2 Choose the port that Emys is connected to via PORT combobox Open the chosen port 3 Set the desired positions and velocities for each of the head joints Change the desired position for each joint by clicking light gray box near the joint The adequate slider will pop up and enable to control joint portioning To modify the joint velocity click the dark gray box the control slider will pop up 15 3 SOFTWARE EXAMPLES Load base To add the current face expression to the list click Add in the Pot fj y COM1 dev ttyUSBO dev ttyUSB1 devAtyUSB2 devAtyUSB3 Figure 3 1 EMYS application graphical interface located in the upper left corner Set the desired duration of the expression in the Time execution box INFO If movement duration is too short the robot will skip it to the next expression without reaching the set positions have to be consecutive integers Input the sequence number in the upper section of the screen The numbers INFO If the application reaches a gap in the section numbers e g 3 5 it stops executing the program
20. use COM15 in use V Use FIFO buf COM16 in use compatible UART COM17 in use COM18 in use COM19 in use COM20 in use SECRET COM21 in use SESE COM22 nuse r Receive Buffer LCOM23 in use High 14 14 COM24 in use COM25 in use i Transmit Buffer L COM26 in use i COM27 in use IO Select lower lt dnnection problems COM Port Number COM28 y Note Sometimes system marks ports as in use This does not have to mean that this name is reserved Moreover it does not mean that this device in deed in use If we are sure that such a device is not connected at the moment to the computer we can select it 33 Linux 3 3 1 very simple EMYS simple EMYS EMYS Programs very_simple_EMYS simple EMYS EMYS compiled by the C compiler in Windows can be run directly in Linux after installing mono library After in stalling monodevelop it is also possible to compile C examples directly in Linux and using them both in Windows and Linux Note that it might be essential to install mono winforms library The only important difference in usage of those applica tions in Linux is the name of the port Instead of COM number they are named dev ttyUSB number 3 3 2 Dynlink library Additionally for Linux system there is provided a C library named Dynlink and examples of its application This library allows for communication with Dynamixel 19 3 SOFTWARE EXAMPLES servos It allows both
21. vQueryFrame ref capture IplImage correct cvlib CvCreateImage new CvSize image height image width int cvlib IPL_DEPTH_8U 3 cvlib CvFlip ref image ref image 1 cvlib CvTranspose ref image ref correct Software examples Emys joints movements are realized by servos that are able to communicate via Dy namixel protocol Therefore any software able to control such kind of servos will be able to control Emys Dynamixel protocol is based on EIA 485 and is completely de scribed in Dynamixel Servo Manual To give a new users a quick start in application development Emys is provided with working examples for Windows and Linux Ex amples illustrate both how to communicate with single servo and how to perform series of actions on many servos concurrently 3 1 Windows For Windows environment five examples are provided Two examples are written in C and three in C 3 1 1 very simple EMYS Info very simple EMYS is a command line application that shows how to use serial port for sending motion parameters to EMYS head Langauage This example is delivered both in C and C Compiler Microsoft Visual Studio 2008 Usage gt gt very_simple_EMYS exe COM ID position velocity 13 3 SOFTWARE EXAMPLES COM name of the serial port ID identification number of the servo that will operate see Figure 2 4 position goal position 0 1023 velocity maximum velocity during movement
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