Hi, I would like to perform a cyclic movement as a sequence of steps so I program the following code (I know this could be done with a single instruction but I need to use a sequence…) : while ( true ) { if ( pos == 2200 ) step = -100 ; else if ( pos == 800 ) step = 200 …

looks like you may have an uncontrolled loop running in your code, which may have your cpu pegged at 100% making for a delayed response.

“looks like you may have an uncontrolled loop running in your code, which may have your cpu pegged at 100% making for a delayed response.” Thanks Zoomkat, but I don’t think so, at each cycle I send a command and wait for its completion; to avoid saturating the cpu I use a “slee…

Nope… This function is well established in many applications. There is no inaccuracy of the delays listed in the docs. I don’t think the input buffer has any impact on the Query command. I know this is not helpful, but if there were a problem with the Query command it would sure…

Sorry, but I don’t know which platform you are using or the like. It obviously looks like C, but not sure which one, so not sure about timing that way… Likewise you are not mentioning anything about what types of commands you are running or the like. In the phoenix code (hexap…

Nope… This function is well established in many applications. There is no inaccuracy of the delays listed in the docs. I don’t think the input buffer has any impact on the Query command. I know this is not helpful, but if there were a problem with the Query command it would sure…

As I mentioned, the phoenix code does it’s own timing. That is the code issues a command, knowing how long the move is supposed to take, it does what is necessary to setup the next command, it calculates how much time the setup code took, subtract that from the time of the last …

You are suggesting that the Q command is not working correctly. Which of the following do you suspect? The SSC32 sometimes takes much longer than 5ms to respond to the Q command. The SSC32 sometimes continues to return ‘+’ even after the move is complete. Something else. It w…

@jlp Mike designed the SSC-32 and wrote the firmware. If there’s anything wrong he will be able to help you figure it out. :wink:

That is probably the best thing to do. Querrying the movement command status is just adding useless churn to your setup. You already know the value you are going to use for the servo position. Remember that the ssc-32 knows nothing about the actual position of a connected servo. …

Query Movement Status Trouble

Lynxmotion Electronics & Software

jlp January 5, 2011, 10:40pm 7

Hi Kurt, all is programmed in C++ under Linux and compiled with Gcc; we have built several robots including one with 27 servos whose control appears to be satisfactory. Nevertheless (see the previous answer to Jim) I can’t explain why real time responses are so different (roughly factor 7). For example, if you want to build an inverted pendulum, you need your commands to respect a precise timing; we fail in that attempt…