read_angles: Off by a factor of 6? - Githubissues

elephantrobotics / pymycobot

This is a python API for ElephantRobotics product.

MIT License

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read_angles: Off by a factor of 6? #17

Closed eacousineau closed 3 years ago

eacousineau commented 3 years ago

Describe the bug When getting angles in degrees, it appears that joint angles are off by a factor of 6.

To Reproduce

Using minimycobotflasher:
- On Basic board, install Transponder v1.0
- On Atom board, install AtomMain v2.3
- Install this package (based on upstream ec708f37b)
- Print out angles; example demo: https://github.com/eacousineau/pymycobot/blob/e4db088b/demo/print_angles.py
- Move J5 to home (0 degrees). It should print out near 0 degrees.
- Move J5 to positive or negative 90 degrees. Unscaled, will print out about 15 degrees. Scaling by 6, prints out about 90 degrees.
- Move J5 to either hardstop; unscaled, will print out wrong value; scaling by 6, prints out about +/-170

Expected behavior It prints the correct values by default?

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OS: Ubuntu 18.04
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eacousineau commented 3 years ago

Will try out calibration procedure here: https://www.elephantrobotics.com/docs/myCobot-en/5-others/1-maintanance.html#calibration

(But using minimycobotflasher)

eacousineau commented 3 years ago

Did calibration, but that only seemed to fix the home positions; the scaling is still off.

Am I using the wrong version of AtomMain? EDIT: Ah, perhaps I need AtomMain >=3.0? https://github.com/elephantrobotics/myCobot/tree/24575765ce7844fa880add62c31f330055663ff1#libraries

eacousineau commented 3 years ago

Per elephantrobotics/myCobot#17, flashing Atom to AtomMain 2.8 fixed the problem.

(The LED's are no longer lighting up, but meh.)