MOVE24

Hitec robotics including ROBONOVA humanoid, HSR-8498HB servos, MR C-3024 Controllers and RoboBasic
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MOVE24

Post by roboTT » Mon Apr 14, 2008 10:55 pm

Post by roboTT
Mon Apr 14, 2008 10:55 pm

Guys,

as you probably know, i code RN-1 using C++ enviroment.

The :

Code: Select all
SerialPutc(hCom,0xE6);//move servo


is handy, but when there is a need to perform a move for a few servoes at once ( MOVE24 ) - 0xE6 ( servo position ) is not usefull.

For a move like:

Code: Select all
MOVE24  85,  71, 152,  91, 112,  60, 100,  40,  80,    ,    ,    , 100,  40,  80,    ,    ,    , 112,  76, 145,  93,  92,  60,


There is a need to start the movement at once for all servos in the command, and if i try to do the same with 0xE6 - waiting for each command to reply - the movement gets a little bit desynchronized - what is crucial when i perform i.e. Forward move.


Maybe you know, how to avoid / trick this out ?


Many thanks to you all !
Guys,

as you probably know, i code RN-1 using C++ enviroment.

The :

Code: Select all
SerialPutc(hCom,0xE6);//move servo


is handy, but when there is a need to perform a move for a few servoes at once ( MOVE24 ) - 0xE6 ( servo position ) is not usefull.

For a move like:

Code: Select all
MOVE24  85,  71, 152,  91, 112,  60, 100,  40,  80,    ,    ,    , 100,  40,  80,    ,    ,    , 112,  76, 145,  93,  92,  60,


There is a need to start the movement at once for all servos in the command, and if i try to do the same with 0xE6 - waiting for each command to reply - the movement gets a little bit desynchronized - what is crucial when i perform i.e. Forward move.


Maybe you know, how to avoid / trick this out ?


Many thanks to you all !
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