How to use Dynamixel Wizard with Reachy Mini Wireless

haixuan tao

haixuantao

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0. SSH in the Pi

ssh pollen@reachy-mini.local

Password should be "root"

1. Modify Boot firmware config

grep -q 'modules-load=dwc2,g_serial' /boot/firmware/cmdline.txt || sudo sed -i 's/rootwait/rootwait modules-load=dwc2,g_serial/' /boot/firmware/cmdline.txt && \
grep -q 'dtoverlay=dwc2,dr_mode=peripheral' /boot/firmware/config.txt || sudo sed -i '/^\[all\]/a dtoverlay=dwc2,dr_mode=peripheral' /boot/firmware/config.txt && \
grep -q '^\[cm4\]' /boot/firmware/config.txt && sudo sed -i '/^\[cm4\]/,/^\[/{/^\[cm4\]/! {/^\[/! s/^/#/}}; s/^\[cm4\]/#[cm4]/' /boot/firmware/config.txt; echo "Done"

If you ever need to reflash the pi you will need to remove those change with:

sudo sed -i 's/^dtoverlay=dwc2,dr_mode=peripheral/#dtoverlay=dwc2,dr_mode=peripheral/' /boot/firmware/config.txt

sudo sed -i 's/^#.*otg_mode=1/otg_mode=1/' /boot/firmware/config.txt

2. Reboot

sudo reboot

3. After Reboot

• Plug a USB cable within the USB port 2 situated in the head of Reachy Mini ( not the port on the back ) and your computer.
• Push the Boot Switch to Download

4. Switch from the daemon to USB port forwarding

sudo systemctl stop reachy-mini-daemon.service
socat -b 4096 /dev/ttyAMA3,raw,echo=0,b1000000,nonblock /dev/ttyGS0,raw,echo=0,b1000000,nonblock # this is blocking

5. DynamixelWizard

• Make sure that the option are set to:

  • protocol: Protocol 2.0
  • Port: usbmodem**
  • baudrate: 1_000_000

• Scan & Connect

Input Voltage Error is known issue that shouldn't be a problem.

6. When turning off the robot

• Make sure to switch the boot switch back to DEBUG otherwise the robot wont boot

Done with the help of @CarolinePascal <3