From 01e333e28ef38483c95742f77a620228c26ea18b Mon Sep 17 00:00:00 2001 From: hello-jesus <141784078+hello-jesus@users.noreply.github.com> Date: Thu, 10 Aug 2023 12:07:42 -0700 Subject: [PATCH] Update some outputs and change some inputs The --baud in the input commands weren't working anymore so if I tried the same commands without them it functions normally and the outputs for some commands are also different. --- stretch_body/tutorial_dynamixel_servos.md | 83 +++++++++++++---------- 1 file changed, 46 insertions(+), 37 deletions(-) diff --git a/stretch_body/tutorial_dynamixel_servos.md b/stretch_body/tutorial_dynamixel_servos.md index 899f796..e3eb3df 100644 --- a/stretch_body/tutorial_dynamixel_servos.md +++ b/stretch_body/tutorial_dynamixel_servos.md @@ -32,7 +32,7 @@ REx_dynamixel_jog.py /dev/hello-dynamixel-head 11 Output: ```{.bash .no-copy} -[Dynamixel ID:011] ping Succeeded. Dynamixel model number : 1080 +[Dynamixel ID:011] ping Succeeded. Dynamixel model number : 1080. Baud 115200 ------ MENU ------- m: menu a: increment position 50 tick @@ -52,6 +52,10 @@ t: set max temp i: set id d: disable torque e: enable torque +x: put in multi-turn mode +y: put in position mode +w: put in pwm mode +f: put in vel mode ------------------- ``` @@ -67,12 +71,14 @@ Output: ```{.bash .no-copy} For use with S T R E T C H (TM) RESEARCH EDITION from Hello Robot Inc. ----- Rebooting Head ---- +Rebooting: head_pan [Dynamixel ID:011] Reboot Succeeded. +Rebooting: head_tilt [Dynamixel ID:012] Reboot Succeeded. ----- Rebooting Wrist ---- -[Dynamixel ID:013] Reboot Succeeded. +Rebooting: stretch_gripper [Dynamixel ID:014] Reboot Succeeded. +Rebooting: wrist_yaw +[Dynamixel ID:013] Reboot Succeeded. ``` ### Identify Servos on the Bus @@ -80,38 +86,42 @@ For use with S T R E T C H (TM) RESEARCH EDITION from Hello Robot Inc. If it is unclear which servos are on the bus, and at what baud rate, you can use the `REx_dynamixel_id_scan.py` tool. Here we see that the two head servos are at ID `11` and `12` at baud `57600`. ```{.bash .shell-prompt} -REx_dynamixel_id_scan.py /dev/hello-dynamixel-head --baud 57600 +REx_dynamixel_id_scan.py /dev/hello-dynamixel-head ``` Output: ```{.bash .no-copy} Scanning bus /dev/hello-dynamixel-head at baud rate 57600 ---------------------------------------------------------- -[Dynamixel ID:000] ping Failed. -[Dynamixel ID:001] ping Failed. -[Dynamixel ID:002] ping Failed. -[Dynamixel ID:003] ping Failed. -[Dynamixel ID:004] ping Failed. -[Dynamixel ID:005] ping Failed. -[Dynamixel ID:006] ping Failed. -[Dynamixel ID:007] ping Failed. -[Dynamixel ID:008] ping Failed. -[Dynamixel ID:009] ping Failed. -[Dynamixel ID:010] ping Failed. -[Dynamixel ID:011] ping Succeeded. Dynamixel model number : 1080 -[Dynamixel ID:012] ping Succeeded. Dynamixel model number : 1060 -[Dynamixel ID:013] ping Failed. -[Dynamixel ID:014] ping Failed. -[Dynamixel ID:015] ping Failed. -[Dynamixel ID:016] ping Failed. -[Dynamixel ID:017] ping Failed. -[Dynamixel ID:018] ping Failed. -[Dynamixel ID:019] ping Failed. -[Dynamixel ID:020] ping Failed. -[Dynamixel ID:021] ping Failed. -[Dynamixel ID:022] ping Failed. -[Dynamixel ID:023] ping Failed. -[Dynamixel ID:024] ping Failed. +Scanning bus /dev/hello-dynamixel-head +Checking ID 0 +Checking ID 1 +Checking ID 2 +Checking ID 3 +Checking ID 4 +Checking ID 5 +Checking ID 6 +Checking ID 7 +Checking ID 8 +Checking ID 9 +Checking ID 10 +Checking ID 11 +[Dynamixel ID:011] ping Succeeded. Dynamixel model number : 1080. Baud 115200 +Checking ID 12 +[Dynamixel ID:012] ping Succeeded. Dynamixel model number : 1060. Baud 115200 +Checking ID 13 +Checking ID 14 +Checking ID 15 +Checking ID 16 +Checking ID 17 +Checking ID 18 +Checking ID 19 +Checking ID 20 +Checking ID 21 +Checking ID 22 +Checking ID 23 +Checking ID 24 + ``` ### Setting the Servo Baud Rate @@ -125,10 +135,8 @@ REx_dynamixel_set_baud.py /dev/hello-dynamixel-wrist 13 115200 Output: ```{.bash .no-copy} --------------------- -Checking servo current baud for 57600 ----- -Identified current baud of 57600. Changing baud to 115200 -Success at changing baud + +Success at changing baud. Current baud is 115200 for servo 13 on bus /dev/hello-dynamixel-wrist ``` !!! note @@ -139,15 +147,15 @@ Success at changing baud Dynamixel servos come with `ID=1` from the factory. When adding your servos to the end-of-arm tool, you may want to set the servo ID using the `REx_dynamixel_id_change.py` tool. For example: ```{.bash .shell-prompt} -REx_dynamixel_id_change.py /dev/hello-dynamixel-wrist 1 13 --baud 115200 +REx_dynamixel_id_change.py /dev/hello-dynamixel-wrist 1 13 ``` Output: ```{.bash .no-copy} -[Dynamixel ID:001] ping Succeeded. Dynamixel model number : 1080 +[Dynamixel ID:001] ping Succeeded. Dynamixel model number : 1080. Baud 115200 Ready to change ID 1 to 13. Hit enter to continue: -[Dynamixel ID:013] ping Succeeded. Dynamixel model number : 1080 +[Dynamixel ID:013] ping Succeeded. Dynamixel model number : 1080. Baud 115200 Success at setting ID to 13 ``` @@ -219,6 +227,7 @@ stretch_params.py | grep head_pan | grep '_t ' Output: ```{.bash .no-copy} +stretch_body.robot_params.nominal_params param.head_pan.range_pad_t [50.0, -50.0] stretch_configuration_params.yaml param.head_pan.range_t [0, 3827] stretch_configuration_params.yaml param.head_pan.zero_t 1250 ```