Kondo humanoid robot

The Khr 3HV Rev 2, improves on the sucessful KHR 3HV design with the improved 2552RHV servos and a new Dual USB Adapter HS.

The new servos feature ICS3.5 protocol making them compatible with Serial or PWM communication. In addition the new Dual USB Adapter HS lets communicate with the servos directly to configure and fine tune the servo behaviour (including the new features added in ICS 3.5).

Control multiple servo motor with C# -rcb4.dll

Create the list view to selectect multiple servo to control.

in the list view, add two column (ics no and position)

Create the list servo in rcb4.dll by manual

//initial setting        private void Form1_Shown(object sender, EventArgs e)        {            // make a list of servo in listView            lisVICSmotor.Items.Clear();            //search all secvor            for (int i = 0; i < Rcb4.Rcb4.MaxDeviceNumner; i++)            {                ListViewItem item = new ListViewItem(new string[] {i.ToString ("00"),"7500" });                lisVICSmotor.Items.Add(item);            }        }

for check list view ( when selected index changed and position value changed)

//when the servo motor selection column is clicked        private void lisVICSmotor_SelectedIndexChanged(object sender, EventArgs e)        {            // when nothing is slelected            if (lisVICSmotor.SelectedIndices.Count ==0)            {                return;                            }            // get the number of the selected list            int sindex = lisVICSmotor.SelectedIndices[0];            //should chose 1 time, gets the curently position            nmmsPosition.Value = Convert.ToInt32(lisVICSmotor.Items[sindex].SubItems[1].Text);        }        // when the value of nmmsPosition has changed, list data is updated        private void nmmsPosition_ValueChanged(object sender, EventArgs e)        {            //exit when no coonection            if (lisVICSmotor.SelectedIndices.Count ==0)            {                return;            }            //get the list number that is selected            int sindex = lisVICSmotor.SelectedIndices[0]; // chose 1            //set the position into listview[position]            lisVICSmotor.Items[sindex].SubItems[1].Text = nmmsPosition.Value.ToString();        }

for creating command to control multiple servo motor

//generated the command to control multiple servo motor        // when click command button        private void btnmsCommand_Click(object sender, EventArgs e)        {            //make the command            System.Collections.Generic.Dictionary<int, int> icsList = new Dictionary<int, int>();            //register the number of frame, here set -1 to frame value            //note allways have            icsList.Add(-1, (int)nmmsFrame.Value);            //remove the data of id that is checked from the list view to the listing            foreach (ListViewItem item in lisVICSmotor.Items)            {                if (item.Checked)                {                    try                {                        int icsNo = int.Parse(item.SubItems[0].Text);                        int pos = int.Parse (item.SubItems[1].Text);                        icsList.Add(icsNo,pos);                }                                    catch                    {                        //do not anythinh                        continue;                    }                 }            }            //generate a command            ByteList cmd = new ByteList();            //System.Collections.Generic.Dictionary<int, int> icsList            cmd.Bytes = Command.RunConstFrameServo(icsList);            //show in the cmd textbox            txtCmd.Text = cmd.CommaText;            recv_count = 4;           }

Send the generation command

//generated the command to control multiple servo motor        // when click command button        private void btnmsCommand_Click(object sender, EventArgs e)        {            //make the command            System.Collections.Generic.Dictionary<int, int> icsList = new Dictionary<int, int>();            //register the number of frame, here set -1 to frame value            //note allways have            icsList.Add(-1, (int)nmmsFrame.Value);            //remove the data of id that is checked from the list view to the listing            foreach (ListViewItem item in lisVICSmotor.Items)            {                if (item.Checked)                {                    try                {                        int icsNo = int.Parse(item.SubItems[0].Text);                        int pos = int.Parse (item.SubItems[1].Text);                        icsList.Add(icsNo,pos);                }                                    catch                    {                        //do not anythinh                        continue;                    }                 }            }            //generate a command            ByteList cmd = new ByteList();            //System.Collections.Generic.Dictionary<int, int> icsList            cmd.Bytes = Command.RunConstFrameServo(icsList);            //show in the cmd textbox            txtCmd.Text = cmd.CommaText;            recv_count = 4;           }

Source Program