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RX-28 Servos: Running 2 Servos #11
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Hi! Dynamixel Wizard for Linux is not being serviced now, no schedule to make it, but we are considering about its necessity. To avoid your waste of your time, use one of the example code called Yes, I was wondering why you open new issue again and again :D. You just comment as an overwrite to your previous issue. Just reopen the issue closed previously, the cover would be changed into green. If you have another kind of issue, then opening new issue would be reasonable. Returning to the subject,
I had never used 6 Port RX/EX Power Hub, but no doubt that Trossen Robotics does good work. Would you show instrument settings? It's for checking whether the instruments are correctly connected. In further, I recommend you to try Let's see what's going on on your table :) |
My partner has a windows computer, so we ran Dynamixel wizard on his computer to update both servos id number and baudrate. We are using the . C ver. - Linux64 - /dev/ttyUSB0/ - protocol1.0 read_write example. We are also using DynamixelSDK-develop. The servos are both connected to the 6 Port RX/EX Power Hub. Also, another 4 pin connector is connected from the Power Hub to the Dynamixel2USB. |
Thank you, It seems that H/W setting is done properly. Now, I don't have an idea why it happens because there wasn't any problem on my settings as nearly same as yours (except 6 Port RX/EX Power Hub <-> SNPS2Dynamixel). Take a look how my stuffs works https://drive.google.com/folderview?id=0B2-t1GBeX7tuaVI2VVk1MmNJWXM&usp=sharing. I changed only ID and goalposition range on the code of DynamixelSDK-master which is same one of DynamixelSDK-develop that I told you yesterday, using a couple of Dynamixel RX-28 which are older than yours (so perhaps the firmware version affects nothing) and are directly connected to each other with 4p cable. If your codes are very far from the original, I want to see your codes. Plus, I guess the incorrect status packet error has been occurred by the same reason that occurs kinda |
Hi! Some questions I had:
4.Lastly, we were planning to interface the dynamixel RX-28 servos with an Intel Galileo Gen 2 Microprocessor Board which has a linux part and an Arduino part. Do you have any advice or advice that we can use so we can control the dynamixel RX-28 servos with the Intel Galileo Gen 2 Board? |
Well done! You are now a professional. :) Here is the answer:
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I have been able to set the baudrate and the I.D's of both servos to 1 and 2 respectively with the Dynamixel Wizard on Robotplus. I tried running the read_write code in the linux64 directory to make sure that they both were working individually. First I had servo 1 plugged in and ran the code and it moved. After, I changed the id number to 2 in the code, and ran the code with servo 2 plugged in. The result was that the servo moved.
The strange thing I noticed was that I plugged in servo 1 and servo 2 into a 6 Port RX/EX Power Hub, and ran the code with the id number in the code set to 2 and both servos ended up moving. I'm very confused on why this is happening when I thought the code only runs for 1 servo which has the specific id. Only one of these servos has an id of 2, but why do both of them move?
Here is part of the output in the terminal:
[ID:001] GoalPos:1023 PresPos:956
[ID:001] GoalPos:1023 PresPos:956
[ID:001] GoalPos:1023 PresPos:956
[TxRxResult] Incorrect status packet!
[ID:001] GoalPos:1023 PresPos:000
[ID:001] GoalPos:1023 PresPos:60348
[ID:001] GoalPos:1023 PresPos:60348
[ID:001] GoalPos:1023 PresPos:60348
[ID:001] GoalPos:1023 PresPos:60348
[ID:001] GoalPos:1023 PresPos:60348
[ID:001] GoalPos:1023 PresPos:60348
[ID:001] GoalPos:1023 PresPos:60348
[ID:001] GoalPos:1023 PresPos:60348
[ID:001] GoalPos:1023 PresPos:60348
[ID:001] GoalPos:1023 PresPos:1018
Press any key to continue! (or press ESC to quit!)
[ID:001] GoalPos:000 PresPos:956
[ID:001] GoalPos:000 PresPos:1021
[ID:001] GoalPos:000 PresPos:956
[ID:001] GoalPos:000 PresPos:1021
[ID:001] GoalPos:000 PresPos:956
[ID:001] GoalPos:000 PresPos:1021
[ID:001] GoalPos:000 PresPos:956
[ID:001] GoalPos:000 PresPos:956
[ID:001] GoalPos:000 PresPos:1021
[ID:001] GoalPos:000 PresPos:956
[ID:001] GoalPos:000 PresPos:1021
[ID:001] GoalPos:000 PresPos:956
[ID:001] GoalPos:000 PresPos:1021
[ID:001] GoalPos:000 PresPos:956
[ID:001] GoalPos:000 PresPos:956
[ID:001] GoalPos:000 PresPos:1021
[ID:001] GoalPos:000 PresPos:1023
[ID:001] GoalPos:000 PresPos:956
[ID:001] GoalPos:000 PresPos:1021
[ID:001] GoalPos:000 PresPos:956
[TxRxResult] Incorrect status packet!
[ID:001] GoalPos:000 PresPos:000
Press any key to continue! (or press ESC to quit!)
[ID:001] GoalPos:1023 PresPos:43196
[ID:001] GoalPos:1023 PresPos:1021
Another question I had is why is it stating incorrect status packet?
Also is there a way to set an inital position for the servo to start at, such as the mid point?
In addition, I ran sync_write and I was wondering what does this code do?
Lastly, why do you need a Data Byte Length, when in the read_write code you didn't need it.
Thank you once again for all the help! We were able to at least get our RX-28 servos moving.
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