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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.
pull/8/head
hello-jesus 1 year ago
committed by GitHub
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1 changed files with 46 additions and 37 deletions
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  1. +46
    -34
      stretch_body/tutorial_dynamixel_servos.md

+ 46
- 34
stretch_body/tutorial_dynamixel_servos.md View File

@ -32,7 +32,7 @@ REx_dynamixel_jog.py /dev/hello-dynamixel-head 11
Output: Output:
```{.bash .no-copy} ```{.bash .no-copy}
[Dynamixel ID:011] ping Succeeded. Dynamixel model number : 1080
[Dynamixel ID:011] ping Succeeded. Dynamixel model number : 1080. Baud 115200
------ MENU ------- ------ MENU -------
m: menu m: menu
a: increment position 50 tick a: increment position 50 tick
@ -52,6 +52,10 @@ t: set max temp
i: set id i: set id
d: disable torque d: disable torque
e: enable 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} ```{.bash .no-copy}
For use with S T R E T C H (TM) RESEARCH EDITION from Hello Robot Inc. For use with S T R E T C H (TM) RESEARCH EDITION from Hello Robot Inc.
Rebooting: head_pan
[Dynamixel ID:011] Reboot Succeeded. [Dynamixel ID:011] Reboot Succeeded.
Rebooting: head_tilt
[Dynamixel ID:012] Reboot Succeeded. [Dynamixel ID:012] Reboot Succeeded.
[Dynamixel ID:013] Reboot Succeeded.
Rebooting: stretch_gripper
[Dynamixel ID:014] Reboot Succeeded. [Dynamixel ID:014] Reboot Succeeded.
Rebooting: wrist_yaw
[Dynamixel ID:013] Reboot Succeeded.
``` ```
### Identify Servos on the Bus ### 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`. 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} ```{.bash .shell-prompt}
REx_dynamixel_id_scan.py /dev/hello-dynamixel-head --baud 57600
REx_dynamixel_id_scan.py /dev/hello-dynamixel-head
``` ```
Output: Output:
```{.bash .no-copy} ```{.bash .no-copy}
Scanning bus /dev/hello-dynamixel-head at baud rate 57600 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 ### Setting the Servo Baud Rate
@ -125,10 +135,8 @@ REx_dynamixel_set_baud.py /dev/hello-dynamixel-wrist 13 115200
Output: Output:
```{.bash .no-copy} ```{.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 !!! 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: 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} ```{.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: Output:
```{.bash .no-copy} ```{.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: 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 Success at setting ID to 13
``` ```
@ -219,6 +227,7 @@ stretch_params.py | grep head_pan | grep '_t '
Output: Output:
```{.bash .no-copy} ```{.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.range_t [0, 3827]
stretch_configuration_params.yaml param.head_pan.zero_t 1250 stretch_configuration_params.yaml param.head_pan.zero_t 1250
``` ```

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