Overview

This book series with 2 volumes is written to help users to fully use the capabilities of the ROBOTIS ENGINEER Kits 1 and 2. Each book chapter showcases one robot type, starting in Volume 1 with the SimpleBot with Arms and progressing towards more sophisticated robots in later chapters. Furthermore, within each book chapter, the programming tool/environment used also progresses from simple like TASK/MOTION and MicroPython on the CM-550 to more sophisticated and enabling tools such as standard Python and C++ on a Desktop PC. In a way, this book is configurable , whereas a user unfamiliar with C++ or Python can just stay with the TASK path from one chapter to the next, while a more experienced programmer would choose a C++ or Python path instead. Other users may choose or design their personal paths depending on their current skill levels and target goals. Another possible scenario is for/when teaching different levels of students while using the same physical robots (due to budget or time constraints perhaps), then the instructor can use TASK for beginning students in parallel with Python or C++ for more advanced students. This series is designed for users with intermediate robotics and programming skills who have worked with ROBOTIS robotics systems before, such as PREMIUM, BIOLOID or MINI. Volume 1 assumes that the reader also has some experience in Python and C/C++ programming. The goals of Volume 1 are to establish the foundational robotics concepts and programming techniques for the ENGINEER System using three demonstration robots: The Simple Bot with Arms (SBwA) is used to illustrate the basic operations of a purely jointed robot using Dynamixels configured in Position Control. The Pan-Tilt Commando (PTC) is used to illustrate the basic operations of a mixed-control robot that has some Dynamixels configured in Position Control mode and some Dynamixels configured in Velocity Control mode. The MonoBot is used in conjunction with the PTC to explore the options in dual-robot control from a central PC using the ROBOTIS Remocon Packet Protocol. For each robot, multiple projects will be showcased first in TASK codes, then the same projects are re-coded in MicroPython so that readers can appreciate the translation requirements and subtleties. Programming features of the CM-550 will be combined with synergistic features from the ENGINEER Mobile App and the Raspberry Pi Zero-W with a Pi Camera. The same projects will also be reviewed and revised by adding the Standard Python and C/C++ features available at the Desktop PC levels, such as the OpenCV and Boost.Asio libraries, as well as the PySerial tool. These projects also showcase the under-utilized ROBOTIS Remocon Packet Protocol to control up to two robots simultaneously using ZigBee and Bluetooth communications hardware.

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