Today I did my first upload to the Basic Atom… on my BRAT… all went well but when it ran… the brats servos were not anywhere near where they should have been. He was bent backward … about 30 degrees on his right leg…
My servos are centered properly to the point a config isn’t really needed at 1500.
Running the program that I compiled with the sequencer is perfect (basic walking sequence).
I recompiled it a couple of time all with the same EXACT results.
I have heard something about offsets… but don’t understand.
It would help to have a little more information here.
For example are you still using an SSC-32 to control the servos. From your description I am guessing you are.
What does your code do? Do you have sequences that you built with SEQ and then had it export the code for the ATOM? If so did you specify the correct Atom vs Atom Pro. Likewise for which version of the IDE you have?
The offsets are a command to help center your robot. That is you should first try to center the robots by making sure the servo horns are aligned properly. But this can still leave you up several degrees off. So you then fine tune it by finding what offset value you need to get each servo where you want them when you send out the move to 1500 command.
EDIT: Also are the moves working properly, just offset? Do they move correctly at all? If not make sure you have the right jumpers between the Atom and SSC-32 and set to the right baud rate…
Now if you are using the atom or Pro to directly control the servos, then that is a whole other subject
The servos and mechanics are centered very accurate.
I am using the basic atom and ssc 32
The sequencer works ssc perfectly… robot walks
when using the ABB/Atom (with the ssc 32) the moves are basically right but the hips are displaced from where they should be… right one aprox 20 degrees aft. causing the robot to fall backwards…
Again the same sequence to the ssc 32 works perfectly…
Now another NEW turn…
Since posting I took another walk routine, a slight variation of the other … compiled and loaded it to the ABB and it works great…??? So what caused the other to not work…
Offsets… where and how are these implemented… I assume in the mbasic… does one create a table? or what.
I am frustrated but in one week I have built two robots, BRAT and Scout and got things talking and managed to create a simple little program that works… SO i guess i should be happy. I wish there were more complete documentation and examples… so I could sleep at night instead of solving puzzles.
Hopefully this makes things more clear… as to what the problem is.
Dr Kat, The servo offset command is pretty cool actually. When you send a servo 1.5mS pulses, #0 P1500, it may not be centered perfectly. So you move the servo say with Lynx Term to align it perfectly. Look to see what position fixed it. [Adjusted Value] - [1500uS] = [Pulse-offset value]
For example if it’s #0 P1523 then your offset is 23. If it’s #0P1436 then the offset is -64. After you find the offset values you can send them to the SSC-32.
#0 PO-64
Notice the PO not P in the command. Only one gotcha here. The PO command should only be done one time in your program. It can cause problems if it is sent more than once.
So anyway after the PO command is sent you can rest assured sending a P of 1500 will move the servo to it’s perfectly aligned (adjusted) position.
You have acomplished much! I wish we had an aresonal of tech writers to do a better job of documentation, but it’s just Beth and I. We are doing the best we can to keep up. I’m glad you are making progress. 8)
Jim I really appreciate the help… Now I understand the offset thing. Yeah it is too bad that there isn’t a get started manual… that give an overview of the process… and example how to from start up to program debug… Things seem particularly difficult with no interactive debug… Send out the code and See what you get… I will probably set up a mock up rig with leds and stuff to try and test without chasing and catching a moving wild thing that is going “mad” on my coffee table.
Your efforts are appreciated, trust me I have a good feel for what you are doing… from my own life experiences. Just think how many of these things you would sell if the average person could be successful. I imagine many just give up after the frustrations. Most people won’t fight the battles and frustrations. If it were easy everyone…
One more question… how do I take several routines (files) done with the sequencer program and bring them into one … I can’t imagine sequencing every routine I might want in one file… before I program in the If and else, again a brief overview would be very helpful. I do have the Brat wondering around my coffee table now on the ABB and SSC 32. thanks
Purchased the servo programmer by Hitec and having everything zeroed out on both bots plus 180 degrees is great … NO OFFSET. I can just zero everything in my sequences to go home. NICE
