Comments (2)
Are 111 and 112 the foot sensor codes? If not, I would say motors 1 and 11
have reset their IDs, and will need the numbers changed. I expected this
with 11 as it's a new motor with no joint ID assigned.
On Fri, Mar 22, 2013 at 10:35 PM, Mitchell [email protected] wrote:
Motors id#1 (R_SHOULDER_PITCH) and id#11 (R_HIP_PITCH) of robot #4https://github.com/nubots/robocup/issues/4aren't working.
They're not stuck + i can move them around fine, but they return errors
and dxl_monitor fails to connect to them:[ID:200(SUB_BOARD)] scan
Check ID:1(R_SHOULDER_PITCH) ... FAIL
Check ID:2(L_SHOULDER_PITCH) ... OK
Check ID:3(R_SHOULDER_ROLL) ... OK
Check ID:4(L_SHOULDER_ROLL) ... OK
Check ID:5(R_ELBOW) ... OK
Check ID:6(L_ELBOW) ... OK
Check ID:7(R_HIP_YAW) ... OK
Check ID:8(L_HIP_YAW) ... OK
Check ID:9(R_HIP_ROLL) ... OK
Check ID:10(L_HIP_ROLL) ... OK
Check ID:11(R_HIP_PITCH) ... FAIL
Check ID:12(L_HIP_PITCH) ... OK
Check ID:13(R_KNEE) ... OK
Check ID:14(L_KNEE) ... OK
Check ID:15(R_ANKLE_PITCH) ... OK
Check ID:16(L_ANKLE_PITCH) ... OK
Check ID:17(R_ANKLE_ROLL) ... OK
Check ID:18(L_ANKLE_ROLL) ... OK
Check ID:19(HEAD_PAN) ... OK
Check ID:20(HEAD_TILT) ... OK
Check ID:111(UNKNOWN) ... OK
Check ID:112(UNKNOWN) ... OK
Check ID:200(SUB_BOARD) ... OKThings I tried:
- recompiled the darwin.a library on the robot (with debug printing turned on in CM730.cpp):
- showed that motors 1 and 11 were returning RX_TIMEOUT
- using fimrware_installer to reinstall the firmware for the motor board + all motors:
- motors 1 and 11 were simply skipped during the install. All other motors installed just fine.
- Using roboplus on windows + the USB2Dynamixel adapter to check the motors individually:
- (I couldn't get the adapter to find any motors at all. I must be doing something wrong there)
- Unplugging both legs before the hip to check whether motor 1 would work while motor 11 wasn't present:
- motor 1 still failed in dxl_monitor
—
Reply to this email directly or view it on GitHubhttps://github.com//issues/12
.
from robocup.
Fixed, for some reason motor 1 had reverted to baud rate 34 and motor 11 had never been configured and as such was also ID1 baud rate 34. The dxl_monitor obviously only scans at baud rate 1.
from robocup.
Related Issues (20)
- Robot #1 Crashes/Reboots? HOT 1
- fix merge conflicts with MergeLocChanges and develop HOT 2
- Segment Filters occasionally blows out vision processing HOT 3
- we lost our goals HOT 1
- field lines become obstacles when looking down HOT 7
- Be Ronaldinho
- Check Boot Fix is on all Robots
- Robot resets to goalkeeper position when picked up HOT 4
- Localisation generates too many models when seeing both goals HOT 1
- Localisation fails to throw out wrong-side-of-field goalposts HOT 4
- Do ball voting whenever localisation has models on both sides of the field to cull the models. HOT 1
- localisation fails to adapt to visual features quickly
- Odometry forward motion is 25% of actual motion
- New Orientation Filter frequently faisl to detect falls
- SensorReadManager Segfault
- SensorReadManager's error reporting segfaults when the FSRs are disconnected
- Update the Script Tuner's `help` command.
- Demo code does not compile
- Run on Boot Crashing (#5) HOT 1
- Config system errors at startup from script loading HOT 4
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from robocup.