I’m writing text files (.csv’s) to move my Lynxmotion arm to various sets of joint angles.
I’ve figured out the formatting for the csv files, however I can’t seem to control the
speed at which the joints move.
In my file I specify only the joint angles (not positions or distances). When I do this
the “speed” variable in the csv file seems to have no effect. The joints just move
very quickly.
Can someone please tell me how to set the joint rates using a csv file?
If it’s not possible to set individual joints I’d settle for just slowing the
whole thing down.
I’m attaching a sample file that was adapted from the demo file for angle moves.
When I run this the joints move very quickly (I think at full speed).
Thanks!
Scott Pierce
shakey3.csv (3.4 KB)
i found the problem
the “Speed” in RIOS is not the servo speed, it’s the trajectory speed (Grip tip trajectory)
so it computes distance between XYZ coords to create a cool trajectory
setting each servo to its own speed (changing every “interpolation time” according to acc/dec sine function and “global speed” (the one set to “50” in your project))
so, if there’s no XYZ coords this system is not working,
the good news is that there’s a cool fix :
but be warned to always let the MOVEKIND to “2” (joint move)
we will fill XYZ POS with values, not real values (as we don’t know) but values to compute correctly the speed
like this in your csv file:
[code]… XPOS YPOS ZPOS …
5 5 0
10 10 0
5 5 0
10 10 0
etc…[/code]
do this for all lines in your csv project (see attached file)
as you can see, we don’t care of Z but we force it to “0” anyway
filling one line the X and Y with 5 and the next with 10 then 5 etc…
this will force RIOS to compute a “trajectory speed” even if using only DEG
the little problem with this fix is that a big angular move with speed set to “50” for example will go faster than a little angular move using the same speed value of “50”
i will try to find a better way to handle this “angular move speed” problem in next RIOS version 
shakey3m.csv (1.81 KB)
