Motor 1 is gimpy, doesn't actuate properly

[mizzao]

I'm following the guide from here:

http://learn.trossenrobotics.com/10-interbotix/crawlers/phantomx-hexapod/68-phoenix-code.html

When using this code with the CommanderEX firmware on the Arbotix Commander, pretty much everything works as described.

However, there is one problem: motor 1 doesn't seem to go along with the rest of the gait. It basically doesn't respond at all, resulting in a 90 degree angle if the crawler has been shuffling along sideways. When starting up the crawler, it doesn't return to a neutral position. Motors 3 and 5 work as normal and the leg would be in correct positions if motor 1 worked properly.

I don't think it's a problem with the electrical or mechanical connections on our crawler, because when loaded with the stock firmware all legs work properly.

Any ideas? cc @macat

[DerelictRobot]

I seem to recall that ID1 in Kurt's code was reassigned due to the issue in which ROBOTIS servos will reset to default on brownout. Check the ID assignments in the code. Andrew Dresner Roboticist 503-902-2439

…

On Fri, Jan 26, 2018 at 2:41 PM, Andrew Mao ***@***.***> wrote: I'm following the guide from here: http://learn.trossenrobotics.com/10-interbotix/crawlers/ phantomx-hexapod/68-phoenix-code.html When using this code with the CommanderEX firmware on the Arbotix Commander, pretty much everything works as described. However, there is one problem: motor 1 doesn't seem to go along with the rest of the gait. It basically doesn't respond at all, resulting in a 90 degree angle if the crawler has been shuffling along sideways. When starting up the crawler, it doesn't return to a neutral position. Motors 3 and 5 work as normal and the leg would be in correct positions if motor 1 worked properly. I don't think it's a problem with the electrical or mechanical connections on our crawler, because when loaded with the stock firmware all legs work properly. Any ideas? cc @macat <https://github.com/macat> — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#3>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AEwLghyJgYl1lOZbd1wGeQiYX1cZjGyDks5tOlSSgaJpZM4Ru-dx> .

[mizzao]

Ah, great. According to 29293ef we just have to set it to #19.

I'll leave this issue open though in case anyone else runs into this problem.

[KurtE]

Yes as Andrew mentioned, the default Phantom_Phoenix code is now setup to not use Servo ID #1 as there has been issues of servos resetting itself and end up as Servo ID #1. So there is code in #ifdef that that servo is now I think Servo #19, might be #17… Then also at startup, the code tries to locate all of the servos. If it finds all of the servos it expects except one and it finds that there Is a servo #1, then the code will try to renumber #1 to the missing servo ID. This helped fix several peoples robots that stopped Working properly… Again you can disable this code and tell the system to use #1 if that is your preference. From: Andrew Dresner [mailto:notifications@github.com] Sent: Friday, January 26, 2018 2:52 PM To: KurtE/Phantom_Phoenix <Phantom_Phoenix@noreply.github.com> Cc: Subscribed <subscribed@noreply.github.com> Subject: Re: [KurtE/Phantom_Phoenix] Motor 1 is gimpy, doesn't actuate properly (#3) I seem to recall that ID1 in Kurt's code was reassigned due to the issue in which ROBOTIS servos will reset to default on brownout. Check the ID assignments in the code. Andrew Dresner Roboticist 503-902-2439

On Fri, Jan 26, 2018 at 2:41 PM, Andrew Mao ***@***.***> wrote: I'm following the guide from here: http://learn.trossenrobotics.com/10-interbotix/crawlers/ phantomx-hexapod/68-phoenix-code.html When using this code with the CommanderEX firmware on the Arbotix Commander, pretty much everything works as described. However, there is one problem: motor 1 doesn't seem to go along with the rest of the gait. It basically doesn't respond at all, resulting in a 90 degree angle if the crawler has been shuffling along sideways. When starting up the crawler, it doesn't return to a neutral position. Motors 3 and 5 work as normal and the leg would be in correct positions if motor 1 worked properly. I don't think it's a problem with the electrical or mechanical connections on our crawler, because when loaded with the stock firmware all legs work properly. Any ideas? cc @macat <https://github.com/macat> — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#3>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AEwLghyJgYl1lOZbd1wGeQiYX1cZjGyDks5tOlSSgaJpZM4Ru-dx> .

— You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#3 (comment)> , or mute the thread <https://github.com/notifications/unsubscribe-auth/ABfGQJ5yX0S1ewZvQVxbocJ1WTT-pOYwks5tOlcogaJpZM4Ru-dx> .

[mizzao]

That code sounds like it should have renumbered my #1 to be #19 automatically...but it didn't. I wonder why. Will look into it.

…

On Fri, Jan 26, 2018, 6:16 PM KurtE ***@***.***> wrote: Yes as Andrew mentioned, the default Phantom_Phoenix code is now setup to not use Servo ID #1 as there has been issues of servos resetting itself and end up as Servo ID #1. So there is code in #ifdef that that servo is now I think Servo #19, might be #17… Then also at startup, the code tries to locate all of the servos. If it finds all of the servos it expects except one and it finds that there Is a servo #1, then the code will try to renumber #1 to the missing servo ID. This helped fix several peoples robots that stopped Working properly… Again you can disable this code and tell the system to use #1 if that is your preference. From: Andrew Dresner ***@***.*** Sent: Friday, January 26, 2018 2:52 PM To: KurtE/Phantom_Phoenix ***@***.***> Cc: Subscribed ***@***.***> Subject: Re: [KurtE/Phantom_Phoenix] Motor 1 is gimpy, doesn't actuate properly (#3) I seem to recall that ID1 in Kurt's code was reassigned due to the issue in which ROBOTIS servos will reset to default on brownout. Check the ID assignments in the code. Andrew Dresner Roboticist 503-902-2439 On Fri, Jan 26, 2018 at 2:41 PM, Andrew Mao ***@***.***> wrote: > I'm following the guide from here: > > http://learn.trossenrobotics.com/10-interbotix/crawlers/ > phantomx-hexapod/68-phoenix-code.html > > When using this code with the CommanderEX firmware on the Arbotix > Commander, pretty much everything works as described. > > However, there is one problem: motor 1 doesn't seem to go along with the > rest of the gait. It basically doesn't respond at all, resulting in a 90 > degree angle if the crawler has been shuffling along sideways. When > starting up the crawler, it doesn't return to a neutral position. Motors 3 > and 5 work as normal and the leg would be in correct positions if motor 1 > worked properly. > > I don't think it's a problem with the electrical or mechanical connections > on our crawler, because when loaded with the stock firmware all legs work > properly. > > Any ideas? cc @macat <https://github.com/macat> > > — > You are receiving this because you are subscribed to this thread. > Reply to this email directly, view it on GitHub > <#3>, or mute the thread > < https://github.com/notifications/unsubscribe-auth/AEwLghyJgYl1lOZbd1wGeQiYX1cZjGyDks5tOlSSgaJpZM4Ru-dx > > . > — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub < #3 (comment)> , or mute the thread < https://github.com/notifications/unsubscribe-auth/ABfGQJ5yX0S1ewZvQVxbocJ1WTT-pOYwks5tOlcogaJpZM4Ru-dx> . — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <#3 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AB-9VOIHMYrrAjmou_T7eeN9ai9gFU6nks5tOly_gaJpZM4Ru-dx> .