We have a pair of ROBOTIS OP2-FSR Set (http://www.robotis.us/robotis-op2-fsr-set/) , and we have problems with the software communication. We connected it to the TTL port on a U2D2 and tried the following things.
Firstly we tried to connect with one of the feet using R+ Manager (v2.2.17). It only worked once, and after that no matter how we changed the settings or kept the same settings, it couldn't be connected again. In the only successful connection, we noted the ID of that foot was 111, and Baud rate was 1Mbps.
Then we used the Dynamixel-SDK in Matlab. The connection was successful for the first few times (we could access to RAM address 34 (0X22) and read normal FSR_Central_X data). But after that, the device couldn't be found again. It always showed the following information:
Succeeded to open the port!
Succeeded to change the baudrate!
[TxRxResult] There is no status packet!
We also tried the SDK in python and c++ in linux ubuntu, but it didn't work.
All the above trials are done by connecting one FSR foot on a U2D2, supplied by 11.1V battery.
Is there anything we can do?
If you are experiencing problem with using FSR sensor, I'd recommend firmware recovery with DYNAMIXEL Wizard in RoboPlus software as shown below.
Since FSR support Protocol 1.0, it might be easier for you to use DYNAMIXEL Wizard. (R+Manager v2.2.17 mainly supports Protocol 2.0)
You can use Firmware Recovery button to recover each FSR at a time.
Once recovery is completed, you can connect to each FSR and set the proper ID(Right : 111, Left : 112)
The baudrate should be identical to other DYNAMIXEL which will be 1,000,000bps(1Mbps)
For more information about DYNAMIXEL Wizard, please refer to eManual.
After step 5 in which you turns DYNAMIXEL's power back on, the LED on FSR emits the solid red is normal; you are on Firmware Recovery.
Aside from the case as mentioned above, LED on FSR should blink one time.
You may want to try using an another PC then proceed to the same step you did.
If the same issue happens again, please send the part to ROBOTIS, so that we can investigate the root cause.
Please refer to the associated link below.