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UPenn-RoboCup / UPennalizers

Open Source Repository for Team UPennalizers
GNU General Public License v3.0
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Issue with New Frimware in Darwin-OP #18

Closed meisamb closed 12 years ago

meisamb commented 12 years ago

Hi I can't run Upennalizers on my Darwin-OP because the robot being twisted. Our MX-28 actuators are using new frimware. I have changed "Config_OP_Robot.lua" to support new frimware, but my issue didn't solve.

In addition when we run "run_dcm.lua" it returns 0 value for joint's positions.

Should i change anything else?

TechnoX commented 12 years ago

I think we have the same issue, I was able to find this page when browsing the wiki: https://github.com/UPenn-RoboCup/UPennalizers/wiki/Darwin-Motor-Calibration

I did "Uncomment this line under 'for testing' : dcm.actuator.readType[1]=1;--Read ALL --- Save and exit" Then I got values from all the servos when I run "run_dcm.lua"

My main concern is that I can't find the test_bias.lua. All my offsets seems to be wrong, because when I run the sample program the robot is being twisted badly.

meisamb commented 12 years ago

thanks TechnoX, Motor calibration didn't help me. but my issue solved by downloading original sources by this command in Linux:

git clone https://github.com/UPenn-RoboCup/UPennalizers.git I have just uncomment the section for new firmware in"Player/Config/Config_OP_Robot.lua". Now robot can works as I expected. I think that i have downloaded one of the branches not original codes and that's why it doesn't work properly.