servo ID in each link:
joint_yaw: 1
joint_pitch: 2
gimbal_pitch: 3
gimbal_roll: 4
note: servo ID in spinal/SetBoardConfig : minus 1 (-1) from servo ID in each link (e.g. joint_yaw: 0)
inital phase:
- check all neuron state by following command:
$ rosservice call /get_board_info "{}"
Following is the result on 2018.12
boards:
-
slave_id: 1
imu_send_data_flag: 0
servos:
-
id: 1
p_gain: 2500
i_gain: 100
d_gain: 3000
profile_velocity: 10
current_limit: 648
send_data_flag: 1
-
id: 2
p_gain: 2500
i_gain: 100
d_gain: 3000
profile_velocity: 10
current_limit: 648
send_data_flag: 1
-
id: 3
p_gain: 2500
i_gain: 100
d_gain: 3000
profile_velocity: 0
current_limit: 0
send_data_flag: 0
-
id: 4
p_gain: 2500
i_gain: 100
d_gain: 16000
profile_velocity: 110
current_limit: 0
send_data_flag: 0
-
slave_id: 2
imu_send_data_flag: 0
servos:
-
id: 1
p_gain: 2500
i_gain: 100
d_gain: 3000
profile_velocity: 10
current_limit: 648
send_data_flag: 1
-
id: 2
p_gain: 2500
i_gain: 100
d_gain: 3000
profile_velocity: 10
current_limit: 648
send_data_flag: 1
-
id: 3
p_gain: 2500
i_gain: 100
d_gain: 3000
profile_velocity: 0
current_limit: 0
send_data_flag: 0
-
id: 4
p_gain: 2500
i_gain: 100
d_gain: 16000
profile_velocity: 110
current_limit: 0
send_data_flag: 0
-
slave_id: 3
imu_send_data_flag: 0
servos:
-
id: 1
p_gain: 2500
i_gain: 100
d_gain: 3000
profile_velocity: 10
current_limit: 648
send_data_flag: 1
-
id: 2
p_gain: 2500
i_gain: 100
d_gain: 3000
profile_velocity: 10
current_limit: 648
send_data_flag: 1
-
id: 3
p_gain: 2500
i_gain: 100
d_gain: 3000
profile_velocity: 0
current_limit: 0
send_data_flag: 0
-
id: 4
p_gain: 2500
i_gain: 100
d_gain: 16000
profile_velocity: 110
current_limit: 0
send_data_flag: 0
-
slave_id: 4
imu_send_data_flag: 0
servos:
-
id: 3
p_gain: 2500
i_gain: 100
d_gain: 3000
profile_velocity: 0
current_limit: 0
send_data_flag: 0
-
id: 4
p_gain: 2500
i_gain: 100
d_gain: 16000
profile_velocity: 110
current_limit: 0
send_data_flag: 0
- check servo state by following command: ` $ rostopic echo /servo/states -c`
stamp:
secs: 1491045517
nsecs: 35114374
servos:
-
index: 0
angle: 4069
temp: 30
load: -3
error: 0
-
index: 1
angle: 2010
temp: 30
load: 9
error: 0
-
index: 4
angle: 4085
temp: 28
load: -8
error: 0
-
index: 5
angle: 2038
temp: 32
load: -9
error: 0
-
index: 8
angle: 4065
temp: 29
load: 8
error: 0
-
index: 9
angle: 2039
temp: 30
load: -7
error: 0
---
Note: the angle should be around 5, if the true joint angle is -1.57[rad], or should be around 4095 if the true joint angle is 1.57[rad].
- set the local index 1 servo of No.2 neuron to 5 (neutral point).
calibration
joint
guarantee the enough tension for each joint, using the clamp as shown in following figure.
yaw: using following command (for neuron id 2) at the joint angles is ideally -1.57[rad]
$ rosserive call /set_board_info spinal/SetBoardInfo “command: 2 data: [2, 0, 5]”
Note: set a small offset (e.g. 5) from the true value 0, because of the different gear ratio.
pitch: using following command (for neuron id 2) at the joint angles is ideally 0[rad]
$ rosserive call /set_board_info spinal/SetBoardInfo “command: 2 data: [2, 1, 2047]”
gimbal
use following tool to make sure the gimbal module is level against the ground, then use following command.
$ rosserive call /set_board_info spinal/SetBoardInfo “command: 2 data: [2, 2, 2047]”
$ rosserive call /set_board_info spinal/SetBoardInfo “command: 2 data: [2, 3, 2047]”
Servo PID gain and velocity
joint
XH430-W350R
- PID gains: [2500, 100, 3000], date: 2017.08
- velocity: 25, date: 2019.03
gimbal pitch
MX28-AR
- PID gains: [2500,100,3000], date: 2017.08
- velocity: 0, date: 2017.08
gimbal roll
MX28-AR (link2, link3)
- PID gains: [2500,100,16000], date: 2017.08
- velocity: 110, date: 2017.08
XH430-W350R
- PID gains: [1000,100,2500], date: 2019.02
- velocity: 0, date: 2019.02 (note: this is the max speed, but still slower than other type servo)
XM430-W210R (link1), no reduction
- PID gains: [1500,100,10000], date: 2019.05.26
- velocity: 110, date: 2019.05.26
XM430-W210R (link4), no reduction
- PID gains: [1500,100,6000], date: 2019.05.26
- velocity: 110, date: 2019.05.26
XM430-W210R (link1/link4), with reduction (34-60)
- PID gains: [1000,100,4000], date: 2019.05.27
- velocity: 220, date: 2019.05.27
- with rigid, no any dead zone