joint and gimbal servo motor

dynamixel

you can use dynamixel_wizard2 to set the configuration from ubuntu/windows.

motor types:

• mx28AR
  protocol: http://support.robotis.com/jp/product/dynamixel/mx_series/mx-28at_ar.htm
• xh430
  protocol: http://support.robotis.com/en/product/actuator/dynamixel_x/xh_series/xh430-w210_main.htm

general configuration:

• baud rate: 3 (i.e., 1Mbps)
• return delay time: 25[ms]
• operating mode: 5

id setting

slave_id of each neuron is incremented from 1 and set via rqt.
ID of servo motors connected to the same neuron is incremented from 1 for joints and gimbals, in that order.
The value of each ID in the Servo.yaml is incremented from 0 starting from the servo with ID 1 connected to neuron with slave_id 1.

Example

thrust rotor

• motor specification measurement: See here

ESC calibration

• roslaunch spinal_ros_bridge serial.launch
• Every time restart spinal, remember to publish topic to /uav_info, HydrusX example: rostopic pub -1 /uav_info spinal/UavInfo "motor_num: 4 uav_model: 16 baselink: 2"
  1. remove all the propeller for safety, unplugin all the ESC from power cable for safety
  2. publish topic with pwm maximum value (ESC NOT CONNECT TO Power Cable, DANGEROUS!!)
     rostopic pub -1 /pwm_test std_msgs/Float32 "data: 0.95" (0.95 means 1900)
  3. connect one ESC to respective power cable
  4. wait for the voice info (as picture) and publish topic with pwm minimum value ‘rostopic pub -1 /pwm_test std_msgs/Float32 “data: 0.5”’ (0.5 means 1000)
  5. unplugin the ESC from power cable, and start to calibrate next ESC \
• If want to test calibration results, plugin ESC and publish topic with low pwm value:
  rostopic pub -1 /pwm_test std_msgs/Float32 "data: 0.53" (0.53 means 1060)
  1. repeat the process 1-5 but wait for the voice info of High Timing, to change to High Timing mode