Any servo moving?

Bioloid robot kit from Korean company Robotis; CM5 controller block, AX12 servos..
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Any servo moving?

Post by FriedV » Tue Nov 13, 2012 7:09 pm

Post by FriedV
Tue Nov 13, 2012 7:09 pm

Hi,
my Crusty (Crustcrawler Hexapod) can be very well programmed via sync_write to all legs(18 servos).
To check if movement hat completed I use (VB 2012)
----------------------------------------------------------
Public Shared Function IsMoving() As Boolean
'Anything moving?
Dim Mov As Boolean = False
For i = 1 To 18
Mov = Mov Or dxl_read_byte(i, 46)
Next
Return Mov
End Function
-----------------------------------------------------------
This works quite well but even if the 18 servos are already in their respective goal positions, this routine takes about 600 msec.
Anyone knows of a better way to do this?
Hi,
my Crusty (Crustcrawler Hexapod) can be very well programmed via sync_write to all legs(18 servos).
To check if movement hat completed I use (VB 2012)
----------------------------------------------------------
Public Shared Function IsMoving() As Boolean
'Anything moving?
Dim Mov As Boolean = False
For i = 1 To 18
Mov = Mov Or dxl_read_byte(i, 46)
Next
Return Mov
End Function
-----------------------------------------------------------
This works quite well but even if the 18 servos are already in their respective goal positions, this routine takes about 600 msec.
Anyone knows of a better way to do this?
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Post by i-Bot » Tue Nov 13, 2012 7:30 pm

Post by i-Bot
Tue Nov 13, 2012 7:30 pm

Seems very long even for VB.
What is your interface to the Dynamixels? USB2Dynamixel ?

What is the latency setting on the port ?
Seems very long even for VB.
What is your interface to the Dynamixels? USB2Dynamixel ?

What is the latency setting on the port ?
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Post by FriedV » Tue Nov 13, 2012 8:13 pm

Post by FriedV
Tue Nov 13, 2012 8:13 pm

Yes I use the USB2Dynamixel.
Thanks for the latency tip, it was set to 16msec.
Things are improving, but still around 150 msec for 18 servos.
Is there anything faster than USB2Dyna?
Thx, Friedrich
Yes I use the USB2Dynamixel.
Thanks for the latency tip, it was set to 16msec.
Things are improving, but still around 150 msec for 18 servos.
Is there anything faster than USB2Dyna?
Thx, Friedrich
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Post by i-Bot » Tue Nov 13, 2012 9:13 pm

Post by i-Bot
Tue Nov 13, 2012 9:13 pm

Are you running the bus at 1Mbps ?

Take a look at the topics on USB2AX with the sync read capability
Are you running the bus at 1Mbps ?

Take a look at the topics on USB2AX with the sync read capability
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