Hello,

The new offset tuner for the Darwin-OP doesn't appear to be functioning as intended.

Documentation is found here: http://darwin-op.springnote.com/pages/8067350

First of all, it does not create nor write to a /Data/config.ini file when you save. 

1) Where is this file being stored/created, if at all?

Secondly, this is either due to poor documentation or the program not functioning, but I cannot seem to actually set offsets in the program correctly. 

The first column is the stored 'home' position I assume. The issue here is that it pulls this stored home position not from the mysterious /Data/config.ini file, but from within the command.cpp file used to generate the offset_tuner program. 

2) The stored home position in offset_tuner's command.cpp does not appear to correlate with the home position that walk_tuner is referencing from either. Wouldn't it need to have these two home positions reference the same information?

3) As a separate question, where does walk_tuner reference it's startimg home position from? Is it just center goal position of each servo?

The second column is what I would expect to input offset values. The issue is that you can only enter positive integer values here, you cannot enter negative integers. This means I can only offset in one direction. Furthermore, when you enter in these offsets, the 3rd/4th columns don't update appropriately. 

4) How are we supposed to actually use the offset column? With no ability to enter a negative value, we can only offset in one direction.

I'm not sure if I simply don't understand how to use this piece of software due to a lack of documentation available, or if it's simply not working. I was really looking forward to being able to adjust the offsets on my Darwin, but so far this piece of software appears to be useless.