Using foot sensors with op3

[GramJr]

Hello again,

1. I don't know where i can write about CM-530, but i have found small bug (OUT Ports 1-6 didn't works with HIGH value when i set HEX value ...0011, or both LEDs to ON).

2. I need to connect foot-force sensors to op3, maybe you can tell me more about variables used in balance control (https://github.com/ROBOTIS-GIT/ROBOTIS-OP3/blob/9e306bbfbf769908dab240d09f40208670762bab/op3_balance_control/src/op3_balance_control.cpp)?

3. At what topic i need to publish data to connect my sensors to balance control?

4. What type of connection used in thormang3 for foot sensors?
   Thanks!

[kaym9n]

Hi,

1. I do not understand your question. Are you talking about OPENCR?

2. I'm sorry, but it will be difficult to explain the source code line by line.

3. THORMANG3 uses imu and ft sensor data. The source code of OP3's walking is a reduced version of THORMANG3, so it is recommended to analyze the walking source code of THORMANG3.

4. In case of THORMANG3, the ft sensor is connected to the external port of the ankle dynamixels.
   thormang3_manager read the analog value and feet_ft_module makes it as ft data.

Regards,
Kayman

[GramJr]

I'm talking about this controller - http://support.robotis.com/en/product/controller/cm530.htm

Ok, i need time to read information about thormang ft sensors.

[kaym9n]

I see.
It was not a product to use in OP3, so I made a mistake.
I will contact the person i charge about the case.

Regards,
Kayman

[kaym9n]

This issue has been closed as there weren't recent activities. Please feel free to reopen this thread if there's any opinion to throw. Thanks.