Random failures on servo commands (Mac OS Lion w/ Python)

Bioloid robot kit from Korean company Robotis; CM5 controller block, AX12 servos..
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Random failures on servo commands (Mac OS Lion w/ Python)

Post by wolf » Fri Jul 13, 2012 10:46 pm

Post by wolf
Fri Jul 13, 2012 10:46 pm

Hello everyone,

I'm working on getting my Bioloid GP robot working to interface with Python code. Currently it works, but not consistently. The write out commands to the servo don't consistently produce movement. I've put it in a loop until the command does take, but it's not a useable solution.
Has anyone run into this before? I'm in Python using the PySerial module to communicate with AX-12A servos. Here's the code! Based on code from Mac Mason

Code: Select all
import sys
import serial
import time

# The types of packets.
PING       = [0x01]
READ_DATA  = [0x02]
WRITE_DATA = [0x03]
REG_WRITE  = [0x04]
ACTION     = [0x05]
RESET      = [0x06]
SYNC_WRITE = [0x83]

# The various errors that might take place.
ERRORS = {64 : "Instruction",
          32 : "Overload",
          16 : "Checksum",
           8 : "Range",
           4 : "Overheating",
           2 : "AngleLimit",
           1 : "InputVoltage"}

def _Checksum(s):
  """Calculate the Dynamixel checksum (~(ID + length + ...)) & 0xFF."""
  return (~sum(s)) & 0xFF

def _VerifyID(id):
  """
  Just make sure the id is valid.
  """
  if not (0 <= id <= 0xFD):
    raise ValueError, "ID %d isn't legal!" % id

def _EnWire(v):
  """
  Convert an int to the on-wire (little-endian) format. Actually returns the
  list [lsbyte, msbyte]. Of course, this is only useful for the 16-bit
  quantities we need to deal with.
  """
  if not 0 <= v <1023>> 8]

def _DeWire(v):
  """
  Invert EnWire. v should be the list [lsbyte, msbyte].
  """
  return (v[1] <<8> 0:
        res.append(self.port.read())
      count += 1
      print count
    return Response(map(ord, res)).Verify()

  # From here on out, you're looking at functions that really do something to
  # the servo itself. You should look at the user manual for details on what
  # all of these mean, although most are self-explanatory.
  def Reset(self, id):
    """
    Perform a reset on the servo. Note that this will reset the ID to 1, which
    could be messy if you have many servos plugged in.
    """
    _VerifyID(id)
    self.Interact(id, RESET).Verify()

  def GetPosition(self, id):
    """
    Return the current position of the servo. See the user manual, page 16,
    for what the return value means.
    """
    _VerifyID(id)
    packet = READ_DATA + [0x24] + [2]
    res = self.Interact(id, packet).Verify()
    if len(res.parameters) != 2:
      raise ValueError, "GetPosition didn't get two parameters!"
    return _DeWire(res.parameters)

  def GetPositionDegrees(self, id):
    """
    If you'd rather work in degrees, use this one. Again, see the user manual,
    page 16, for details.
    """
    return self.GetPosition(id) * (300.0 / 1023.0)

  def SetPosition(self, id, position):
    """
    Set servo id to be at position position. See the user manual, page 16, for
    how this works. This just sends the set position packet; the servo won't
    necessarily go where you told it. You can use GetPosition to figure out
    where it actually went.
    """
    _VerifyID(id)
    if not (0 <= position <= 1023):
      raise ValueError, "Invalid position!"
    packet = WRITE_DATA + [0x1e] + _EnWire(position)
    self.Interact(id, packet).Verify()

  def SetPositionDegrees(self, id, deg):
    """
    Set the position in degrees, according to the diagram in the manual on
    page 16.
    """
    if not 0 <= deg <= 300:
      raise ValueError, "%d is not a valid angle!" % deg
    self.SetPosition(id, int(1023.0/300 * deg))

  def SetID(self, id, nid):
    """
    Change the ID of a servo. Note that this is persistent; you may also be
    interested in Reset().
    """
    _VerifyID(id)
    if not 0 <= nid <= 253:
      raise ValueError, "%id is not a valid servo ID!" % nid
    packet = WRITE_DATA + [0x03] + [nid]
    self.Interact(id, packet).Verify()
 
  def GetMovingSpeed(self, id):
    """
    Get the moving speed. 0 means "unlimited".
    """
    _VerifyID(id)
    packet = READ_DATA + [0x20] + [2]
    Q = self.Interact(id, packet).Verify()
    if len(Q.parameters) != 2:
      raise ValueError, "GetMovingSpeed has the wrong return shape!"
    return _DeWire(Q.parameters)

  def SetMovingSpeed(self, id, speed):
    """
    Set the moving speed. 0 means "unlimited", so the servo will move as fast
    as it can.
    """
    _VerifyID(id)
    if not 0 <= speed <= 1023:
      raise ValueError, "%d is not a valid moving speed!" % speed
    packet = WRITE_DATA + [0x20] + _EnWire(speed)
    self.Interact(id, packet).Verify()

  def Moving(self, id):
    """
    Return True if the servo is currently moving, False otherwise.
    """
    _VerifyID(id)
    packet = READ_DATA + [0x2e] + [1]
    Q = self.Interact(id, packet).Verify()
    return Q.parameters[0] == 1

  def WaitUntilStopped(self, id):
    """
    Spinlock until the servo has stopped moving.
    """
    while self.Moving(id):
      pass

# Handy for interactive testing.
if __name__ == "__main__":
  if len(sys.argv) != 1:  # Specifying a port for interactive use
    ps = sys.argv[1]
  else:
    ps = "/dev/cu.usbserial-A4008bbH"
  X = ServoController(ps)
  X.SetPosition(7,512) # Set servo ID 1 to position 512 (straight up)
  X.WaitUntilStopped(7)
  X.SetPosition(7,1)
  #X.SetPosition(8,1023)


Any help or insight would be greatly appreciatated!
Hello everyone,

I'm working on getting my Bioloid GP robot working to interface with Python code. Currently it works, but not consistently. The write out commands to the servo don't consistently produce movement. I've put it in a loop until the command does take, but it's not a useable solution.
Has anyone run into this before? I'm in Python using the PySerial module to communicate with AX-12A servos. Here's the code! Based on code from Mac Mason

Code: Select all
import sys
import serial
import time

# The types of packets.
PING       = [0x01]
READ_DATA  = [0x02]
WRITE_DATA = [0x03]
REG_WRITE  = [0x04]
ACTION     = [0x05]
RESET      = [0x06]
SYNC_WRITE = [0x83]

# The various errors that might take place.
ERRORS = {64 : "Instruction",
          32 : "Overload",
          16 : "Checksum",
           8 : "Range",
           4 : "Overheating",
           2 : "AngleLimit",
           1 : "InputVoltage"}

def _Checksum(s):
  """Calculate the Dynamixel checksum (~(ID + length + ...)) & 0xFF."""
  return (~sum(s)) & 0xFF

def _VerifyID(id):
  """
  Just make sure the id is valid.
  """
  if not (0 <= id <= 0xFD):
    raise ValueError, "ID %d isn't legal!" % id

def _EnWire(v):
  """
  Convert an int to the on-wire (little-endian) format. Actually returns the
  list [lsbyte, msbyte]. Of course, this is only useful for the 16-bit
  quantities we need to deal with.
  """
  if not 0 <= v <1023>> 8]

def _DeWire(v):
  """
  Invert EnWire. v should be the list [lsbyte, msbyte].
  """
  return (v[1] <<8> 0:
        res.append(self.port.read())
      count += 1
      print count
    return Response(map(ord, res)).Verify()

  # From here on out, you're looking at functions that really do something to
  # the servo itself. You should look at the user manual for details on what
  # all of these mean, although most are self-explanatory.
  def Reset(self, id):
    """
    Perform a reset on the servo. Note that this will reset the ID to 1, which
    could be messy if you have many servos plugged in.
    """
    _VerifyID(id)
    self.Interact(id, RESET).Verify()

  def GetPosition(self, id):
    """
    Return the current position of the servo. See the user manual, page 16,
    for what the return value means.
    """
    _VerifyID(id)
    packet = READ_DATA + [0x24] + [2]
    res = self.Interact(id, packet).Verify()
    if len(res.parameters) != 2:
      raise ValueError, "GetPosition didn't get two parameters!"
    return _DeWire(res.parameters)

  def GetPositionDegrees(self, id):
    """
    If you'd rather work in degrees, use this one. Again, see the user manual,
    page 16, for details.
    """
    return self.GetPosition(id) * (300.0 / 1023.0)

  def SetPosition(self, id, position):
    """
    Set servo id to be at position position. See the user manual, page 16, for
    how this works. This just sends the set position packet; the servo won't
    necessarily go where you told it. You can use GetPosition to figure out
    where it actually went.
    """
    _VerifyID(id)
    if not (0 <= position <= 1023):
      raise ValueError, "Invalid position!"
    packet = WRITE_DATA + [0x1e] + _EnWire(position)
    self.Interact(id, packet).Verify()

  def SetPositionDegrees(self, id, deg):
    """
    Set the position in degrees, according to the diagram in the manual on
    page 16.
    """
    if not 0 <= deg <= 300:
      raise ValueError, "%d is not a valid angle!" % deg
    self.SetPosition(id, int(1023.0/300 * deg))

  def SetID(self, id, nid):
    """
    Change the ID of a servo. Note that this is persistent; you may also be
    interested in Reset().
    """
    _VerifyID(id)
    if not 0 <= nid <= 253:
      raise ValueError, "%id is not a valid servo ID!" % nid
    packet = WRITE_DATA + [0x03] + [nid]
    self.Interact(id, packet).Verify()
 
  def GetMovingSpeed(self, id):
    """
    Get the moving speed. 0 means "unlimited".
    """
    _VerifyID(id)
    packet = READ_DATA + [0x20] + [2]
    Q = self.Interact(id, packet).Verify()
    if len(Q.parameters) != 2:
      raise ValueError, "GetMovingSpeed has the wrong return shape!"
    return _DeWire(Q.parameters)

  def SetMovingSpeed(self, id, speed):
    """
    Set the moving speed. 0 means "unlimited", so the servo will move as fast
    as it can.
    """
    _VerifyID(id)
    if not 0 <= speed <= 1023:
      raise ValueError, "%d is not a valid moving speed!" % speed
    packet = WRITE_DATA + [0x20] + _EnWire(speed)
    self.Interact(id, packet).Verify()

  def Moving(self, id):
    """
    Return True if the servo is currently moving, False otherwise.
    """
    _VerifyID(id)
    packet = READ_DATA + [0x2e] + [1]
    Q = self.Interact(id, packet).Verify()
    return Q.parameters[0] == 1

  def WaitUntilStopped(self, id):
    """
    Spinlock until the servo has stopped moving.
    """
    while self.Moving(id):
      pass

# Handy for interactive testing.
if __name__ == "__main__":
  if len(sys.argv) != 1:  # Specifying a port for interactive use
    ps = sys.argv[1]
  else:
    ps = "/dev/cu.usbserial-A4008bbH"
  X = ServoController(ps)
  X.SetPosition(7,512) # Set servo ID 1 to position 512 (straight up)
  X.WaitUntilStopped(7)
  X.SetPosition(7,1)
  #X.SetPosition(8,1023)


Any help or insight would be greatly appreciatated!
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Joined: Fri Jul 13, 2012 7:40 pm

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