get general configuration use rosservice:
` $ rosserive call /get_board_info spinal/GetBoardInfo {} `
note1: neuron board ID is from 1
note2: servo ID is from 0
set general configuration use rosservice:
spinal/SetBoardInfo is as follows:
#commands
## slave_id is from 1
## servo_index is from 0
uint8 SET_SLAVE_ID = 0
# [slave_id, new_slave_id]
uint8 SET_IMU_SEND_FLAG = 1
# [slave_id, flag]
uint8 SET_SERVO_HOMING_OFFSET = 2
# [slave_id, servo_index, joint_offset] !torque disable!
uint8 SET_SERVO_PID_GAIN = 3
# [slave_id, servo_index, p_gain, i_gain, d_gain]
uint8 SET_SERVO_PROFILE_VEL = 4
# [slave_id, servo_index, profile_vel]
uint8 SET_SERVO_SEND_DATA_FLAG = 5
# [slave_id, servo_index, flag]
uint8 SET_SERVO_CURRENT_LIMIT = 6
# [slave_id, servo_index, current_limit] !torque disable!
uint8 command
int32[] data
---
bool success
-
change the servo speed (commad ID: 4) on local index 0 servo of No.4 neuron.
` $ rosserive call /set_board_info spinal/SetBoardInfo “command: 4 data: [4, 0, 10]” ` -
modify the servo gains (P: 2500, I: 100, D:3000) on local index 3 (4th) servo of No.3 neuron.
` $ rosserive call /set_board_info spinal/SetBoardInfo “command: 3 data: [3, 3, 2500, 100, 3000]” ` -
set the local index 3 servo of No.2 neuron to 2047 (neutral point).
` $ rosserive call /set_board_info spinal/SetBoardInfo “command: 2 data: [2, 3, 2047]” `
servo torque enable/disable
$ rostopic pub -1 /servo/torque_enable xxxxx/ServoTorqueCmd “index: [0, 1, 4, 5, 8, 9] torque_enable: [0, 0, 0, 0, 0, 0]”
meaning: disable servo (global index: 0, 1, 4, 5, 8, 9), xxxxx is the name of robot.
note: use the global index of servos.