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Darwin OP Offset Tuner not functioning as intended

조회 수 2915 추천 수 0 2011.10.08 01:53:00
Darwin_Hopefull *.161.86.86

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. 


[레벨:30]ROBOTIS

2011.10.10 10:06:17
*.112.9.210

Your inquiry is being reviewed.

We will get back to you as soon as possible.

Thank you.

ROBOTIS

[레벨:30]ROBOTIS

2011.10.18 17:21:54
*.112.9.210

1.
We are sorry.
There was a bug which is unable to save the value when a user has modified it with 'set' command. 
To modify the value, please use [wa] key. If you locate the cursor on'OFFSET', you can change the value by +/- 1.
Clicking the [wa] key without locating the cursor on 'OFFSET', you can change the value by +/-10. 
We've uploaded modified 'offset_tuner' on svn of sf.net. Please download and use it after rebuilding.

 

2.
'Offset-tuner' is literally for adjusting the offset. So, in  our opinion, it is better to use it at 'stand-up' posture rather than 'walk init'posture. Because, that will be easier for you to see right & left balances.

 

3.
'Init_pose' of 'offset_tuner' is being designated by angles of upper body from constructor of '/darwin/Framework/src/motion/modules/Walking.cpp' file.
For bottom body, it uses the posture value gained by reflecting various walking parameters from 'Process()' function's full turn.


4.
The modified version at svn of sf.net will solve this. If you use [,],{,} you can input minus values too.

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