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ROBOTIS-GIT / DynamixelSDK

ROBOTIS Dynamixel SDK (Protocol1.0/2.0)
http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/overview/
Apache License 2.0
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How can I make the motor move very close to target value #622

Open mkhasan opened 7 months ago

mkhasan commented 7 months ago

ISSUE TEMPLATE ver. 1.2.0

Please fill this template for more accurate and prompt support.

  1. Which DYNAMIXEL SDK version do you use? 3.7.51

    • ex) 3.4.1

  2. Which programming language/tool do you use? Python

    • ex) C, C++, C#, Python, Java, MATLAB, LABVIEW, ROS, Arduino, etc

  3. Which operating system do you use? R-Pi

    • ex) Ubuntu 16.04, Windows 10, OS X 10.14

  4. Which USB serial converter do you use? etc

    • ex) USB2Dynamixel, U2D2, OpenCM904, OpenCR, etc

  5. Which DYNAMIXEL do you use? XC430-T150BB-T

    • ex) MX-28(2.0), AX-12W, XM430-W250, etc.

  6. Have you searched the issue from the closed issue threads? Yes

  7. Please describe the issue in detail: If I follow the demo program in https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/sample_code/cpp_clear_multi_turn_protocol_2_0/ then we find that value of DXL_MOVING_STATUS_THRESHOLD is 20. That means the motor reach up 20 count near the goal position. If I reduce the value to 5 then the motor cannot reach goal position within 5 count limit. Is there any way to reach goal position exactly or very close to the target position ?

  8. How can we reproduce the issue? By setting DXL_MOVING_STATUS_THRESHOLD = 5 in the demo program