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Interbotix / HROS1-Framework

HR-OS1 Framework, based on the Darwin-OP project. Intended for use on HR-OS1 Humanoid Robot platforms.
http://www.trossenrobotics.com/HR-OS1
GNU General Public License v3.0
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Wonder if reference to CM730 should change to Arbotix Pro? #14

Closed KurtE closed 8 years ago

KurtE commented 8 years ago

I have been wondering if the file names and structure names and messages should be updated to refer to the Arbotix Pro instead of the CM-730?

Example: (Especially with RPI2), when the processor tries to start up the Arbotix Pro and the communication fails it mentions the CM730 which does not exist.

But more to the point. Currently the firmware registers of the Arbotix Pro are not the same as those on the CM-730.

Example the IMU registers are not quite the same. The X and Y are swapped in one case and in another the direction of another register is reversed.

Likewise: the Analog values are not defined in the same order. On CM730 Microphones are on Analog 1 and 8, but on Arbotix Pro they are on 1 and 2. In this case this can be compensated for by moving wires around. But in addition here. Analog2 on the CM730 is actually the 2nd Analog pin, but on Arbotix Pro is actually the third... Again maybe not a big deal but somewhat confusing.

Another option would be to update the firmware of the Arbotix Pro to again match with the CM730.

DerelictRobot commented 8 years ago

Fixed with latest push. As CM730 isn't available for purchase, we're just going to support Arbotix-Pro from here on out as a separate entity. ArbotixPro Library has one more update incoming to shore up the register table.