Select the ComPort you have
connected your RoboBuilder serial
cable to; the serial cable is the one
with the DB9 connector on one end
and what looks like a stereo earphone
jack on the other. Then, click
OpenPort. This button will turn green
and then say ClosePort when
communication has been established.
If it doesn’t work, check to make sure
that none of the other RoboBuilder
programs or any other program you
are using has opened it already. Then,
power-cycle your HUNO and try again.
You can now edit and enhance
this motion file. Chapter 3 of the
RoboBuilder User’s Guide gives the
basic details of the use of the
program’s edit and save buttons.
When it comes to making totally new
motions, you’ll want to start with your
“neutral” setting that is configured
into your robot’s initial setup.
My next steps are to think
through the complete sequence of
actions like I was doing an old-fashioned stop-motion animation;
then start capturing poses that
represent the end point of each
“scene” (see Figure 4 for the Get
When you press the Get Pose
button, you’ll get the window shown
in Figure 6 which allows you to select
which servos you will be posing.
Check the HUNO graphic with all of
the servos numbered and located to
find the ones you want.
When you are getting your initial
pose, if it is a “whole body” change,
you’ll want to select all of the servos.
You can tweak your pose later by
selecting only those servos you want
to change, or you can use the “dials”
next to the servo you want to tweak.
If you have your HUNO
connected, tweaking these dials will
have an immediate effect on your
robot. These functions make the
creation of new motion sequences
really simple and kind of fun.
While you are capturing a pose,
the affected servos have no power so
you’ll have to be careful and hold it all
together; when ready, press the
Capture button. This is what the
Get Pose button turns into while in
Capture mode. When doing a
complex capture, you’ll find you need
a third hand to push the buttons; you
can do it by yourself if you are careful
and move slowly.
Each scene will start off where
the previous scene ended. To
transition between one scene and the
next, you have to tell Motion Builder
how many frames to use and how
long you want the transition to take.
The wCK servos do not have speed
settings, so when you are moving
between scenes Motion Builder will
divide the time and distance for each
servo up by the number of frames
that you want to use.