search

open-dynamic-robot-initiative / master-board

Hardware and Firmware of the Solo Quadruped Master Board
BSD 2-Clause "Simplified" License
119 stars 41 forks source link

Issue connecting with wifi #76

Closed Akshay-9416 closed 3 years ago

Akshay-9416 commented 3 years ago

Hello, I am trying to run example codes using wifi. I was able run example code a few times but now suddenly I am facing this issue below. image i ran the below prequisite commands also sudo rfkill unblock wifi sudo ./setup_wifi.sh wlp0s20f3 1

can someone please let us know what causes this issue?

follow up to this, can we control the motors directly using setpositionref(val) function?

thomasfla commented 3 years ago

Hello Closing the loop over wifi is challenging especially if the joint controller is running on the PC side. It is now possible to use the low level impedance control running at 10khz directly on the udrivers. To use this, you need to update the uDriver firmware to the latest version. Then you will be able to set Kp, Kd and reference position and velocity.