量産ｽﾀｯｸﾁｬﾝ試作基板の動作テスト

[補足]moddableはv4.1

Author: KuraZuzu

firmware/stackchan/drivers/dynamixel-driver.ts

@@ -46,7 +46,7 @@ class PControl {
     }
     const position = (this.presentPosition = result.value)
     const current = Math.min(Math.abs(this.goalPosition - position) * this.gain, this.saturation)
-    // trace(`servo ${this.name} ... (${position}, ${this.goalPosition}, ${this.gain}, ${this.saturation}, ${current})\n`)
+    trace(`servo ${this.name} ... (${position}, ${this.goalPosition}, ${this.gain}, ${this.saturation}, ${current})\n`)
     await this.servo.setGoalCurrent(current)
   }
 }

firmware/stackchan/main.ts

@@ -104,11 +104,12 @@ async function main() {
     trace(`WiFi connection failed: ${msg}`)
   })
   let { onRobotCreated, onLaunch } = defaultMod
-  if (Modules.has('mod')) {
-    const mod = Modules.importNow('mod') as StackchanMod
-    onRobotCreated = mod.onRobotCreated ?? onRobotCreated
-    onLaunch = mod.onLaunch ?? onLaunch
-  }
+  // if (Modules.has('mod')) {
+  //   const mod = Modules.importNow('mod') as StackchanMod
+  //   onRobotCreated = mod.onRobotCreated ?? onRobotCreated
+  //   onLaunch = mod.onLaunch ?? onLaunch
+  // }
+  trace('Kurasawa changed TX7 RX6')
   const shouldRobotCreate = await onLaunch?.()
   if (shouldRobotCreate !== false) {
     const robot = createRobot()

firmware/stackchan/manifest.json

@@ -104,8 +104,8 @@
                     "sampleRate": 24000
                 },
                 "serial": {
-                    "transmit": 17,
-                    "receive": 18
+                    "transmit": 7,
+                    "receive": 6
                 },
                 "rotation": 0,
                 "virtualButton": true

firmware/stackchan/manifest_local.json

@@ -9,7 +9,7 @@
             "port": 50021
         },
         "driver": {
-            "type": "scservo"
+            "type": "dynamixel"
         }
     }
 }