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eric-wieser / 2.12-robot

Final project for MIT's 2.12 - Intro to Robotics
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Implement arm torque control #60

Open eric-wieser opened 8 years ago

eric-wieser commented 8 years ago

Things to note:

cssubedi commented 8 years ago

Can someone open the door? Thanks On Dec 3, 2015 2:34 PM, "Eric Wieser" notifications@github.com wrote:

Things to note:

  • Overloads happen
  • They can be detected with motor.get_errors().Overload
  • They can be reset by setting TorqueLimit back to non-zero
  • Doing this can cause overheats if done too often!

— Reply to this email directly or view it on GitHub https://github.com/eric-wieser/2.12-robot/issues/60.

eric-wieser commented 8 years ago

By which I mean set tau = tau_pid + tau_static

reaganm commented 8 years ago

Dynamixel Conn got super fucked up and I don't know how to fix it. If you have a copy of the correct code somewhere on your laptop, can you put it on git under a new name? On Dec 3, 2015 3:14 PM, "Eric Wieser" notifications@github.com wrote:

By which I mean set tau = tau_pid + tau_static

— Reply to this email directly or view it on GitHub https://github.com/eric-wieser/2.12-robot/issues/60#issuecomment-161770180 .

eric-wieser commented 8 years ago

git checkout c77404105668dc7884b93296049e6c13349ce21f -- 'software/Dynamixel*.m' will fix your problem

reaganm commented 8 years ago

I did this but can't get anything

On Thu, Dec 3, 2015 at 3:21 PM, Eric Wieser notifications@github.com wrote:

git checkout c77404105668dc7884b93296049e6c13349ce21f -- 'software/Dynamixel*.m' will fix your problem

— Reply to this email directly or view it on GitHub https://github.com/eric-wieser/2.12-robot/issues/60#issuecomment-161771666 .

reaganm commented 8 years ago

The dynamixel wizard won't allow me to reset the torque limit. how do i do this?

On Thu, Dec 3, 2015 at 3:25 PM, Maggie Reagan reaganm@mit.edu wrote:

I did this but can't get anything

On Thu, Dec 3, 2015 at 3:21 PM, Eric Wieser notifications@github.com wrote:

git checkout c77404105668dc7884b93296049e6c13349ce21f -- 'software/Dynamixel*.m' will fix your problem

— Reply to this email directly or view it on GitHub https://github.com/eric-wieser/2.12-robot/issues/60#issuecomment-161771666 .