Once again real-time interface

Hitec robotics including ROBONOVA humanoid, HSR-8498HB servos, MR C-3024 Controllers and RoboBasic
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2 postsPage 1 of 1

Once again real-time interface

Post by pejus » Sun Jan 16, 2011 3:24 pm

Post by pejus
Sun Jan 16, 2011 3:24 pm

Hi guys!

First of all I would really thank i-Bot (and others) for his help and work on HITEC's serial port protocol. It was invaluable help for me.

I'am writing, guess what, real-time interface and so far everything works fine, but i saw some issues.

1. When i am reading servo's positions sometimes I got 0 as an returned value. I need to read it again few times to read correctly all of them. what should be the reason for this?

2. Also in i-Bots paper on serial port, he mentions something about AI motor settings... what this exactly is ?

3. Can you describe me robonova's memory map ? There is one in mentioned paper but... really no clue how i can make any use of this, please some guide and ideas :P

!!4. If I upgrade my RN firmware to 2.72 will I lost its serial protocol ? Does they changed anything?
Downgrading via roboflash is possible?

Thanks in advance!
Pejus
Hi guys!

First of all I would really thank i-Bot (and others) for his help and work on HITEC's serial port protocol. It was invaluable help for me.

I'am writing, guess what, real-time interface and so far everything works fine, but i saw some issues.

1. When i am reading servo's positions sometimes I got 0 as an returned value. I need to read it again few times to read correctly all of them. what should be the reason for this?

2. Also in i-Bots paper on serial port, he mentions something about AI motor settings... what this exactly is ?

3. Can you describe me robonova's memory map ? There is one in mentioned paper but... really no clue how i can make any use of this, please some guide and ideas :P

!!4. If I upgrade my RN firmware to 2.72 will I lost its serial protocol ? Does they changed anything?
Downgrading via roboflash is possible?

Thanks in advance!
Pejus
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Post by i-Bot » Sun Jan 16, 2011 5:19 pm

Post by i-Bot
Sun Jan 16, 2011 5:19 pm

The problem of reading back 0 for position has been seen before and seems to be a problem with the servos. 0 does mean "bad servo read". Maybe they are just too busy being servos to respond sometimes. As you say if it returns 0 then try again.

I wondered when someone would ask about AI motors. They were a serial servo supported into the C3024. I think the actual servo was later reincarnated as the Robobuilder servo. You don't need those instructions. Just nice to see the DNA of the Robobuilder and RoboNova are connected.

For the memory map, you should look at the C3024 source code in my file area. There are a few useful locations showing the moving status and the gyros.

2.72 allows you to run Robobasic from flash. It adds a few serial commands for this. There is no advantage for running serial from 2.72, but it should not give you any problems with the existing serial. Roboflash can load the original 2.5 firmware if required.

If you have time to document and share any of your work, I am sure others would appreciate that. The different parts of the serial protocol documentation got in a bit of a mess.
The problem of reading back 0 for position has been seen before and seems to be a problem with the servos. 0 does mean "bad servo read". Maybe they are just too busy being servos to respond sometimes. As you say if it returns 0 then try again.

I wondered when someone would ask about AI motors. They were a serial servo supported into the C3024. I think the actual servo was later reincarnated as the Robobuilder servo. You don't need those instructions. Just nice to see the DNA of the Robobuilder and RoboNova are connected.

For the memory map, you should look at the C3024 source code in my file area. There are a few useful locations showing the moving status and the gyros.

2.72 allows you to run Robobasic from flash. It adds a few serial commands for this. There is no advantage for running serial from 2.72, but it should not give you any problems with the existing serial. Roboflash can load the original 2.5 firmware if required.

If you have time to document and share any of your work, I am sure others would appreciate that. The different parts of the serial protocol documentation got in a bit of a mess.
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