RoboSavvy Forum

18 servos moving randomly using rcservo_EnterPlayMode_NOFB

2010-12-01T13:59:30+01:00

Today I got 12 digital servos and 6 analogue servos and again I got the same problem of them all moving randomly. I managed to find a temp fix for it by adding in an extra servo so now I have total of 19 servos connected but only 18 of them are initialized. As long as the 19th servo is connect and not initialized the other 18 works fine.

Strange solution I know

Statistics: Posted by dragonax — Wed Dec 01, 2010 1:59 pm

18 servos moving randomly using rcservo_EnterPlayMode_NOFB

2010-10-26T19:01:38+01:00

yes, that's right. but I have already changing the code with just one servo to control the speed of servo and the servo still getting hot if i run the program. what should I do?

Statistics: Posted by foe.pexal — Tue Oct 26, 2010 7:01 pm

18 servos moving randomly using rcservo_EnterPlayMode_NOFB

2010-10-26T11:50:21+01:00

I see that you are using RB-110. If im not mistaken RB-110 has only 18 serov ports and in the code you have used ports above 18 are specified. Try changing the code

Statistics: Posted by dragonax — Tue Oct 26, 2010 11:50 am

18 servos moving randomly using rcservo_EnterPlayMode_NOFB

2010-10-25T19:57:52+01:00

dragonax wrote:
Thanks here is the code I have so far

Code:
#include #include #include #include #include struct servo { const int Pin; // servo port const int PinNum; // servo port const int Center; // center point in Degrees double Angle; // actuall angle }; struct leg { struct servo Coxa; struct servo Femur; struct servo Tibia; }; struct leg LF = {{ RCSERVO_USECHANNEL23,23,-2,0},{ RCSERVO_USECHANNEL22,22,0,0},{ RCSERVO_USECHANNEL21,21,-45,0}}; struct leg LM = {{ RCSERVO_USECHANNEL9,9, -19,0},{ RCSERVO_USECHANNEL10,10,-1,0},{ RCSERVO_USECHANNEL11,11,-40,0}}; struct leg LR = {{ RCSERVO_USECHANNEL15,15,-30,0},{ RCSERVO_USECHANNEL13,13,-8,0},{ RCSERVO_USECHANNEL14,14,-37,0}}; struct leg RF = {{ RCSERVO_USECHANNEL18,18,0,0},{ RCSERVO_USECHANNEL17,17,7,0},{ RCSERVO_USECHANNEL16,16,37,0}}; struct leg RM = {{ RCSERVO_USECHANNEL4,4, 7,0},{ RCSERVO_USECHANNEL20,20, 8,0},{ RCSERVO_USECHANNEL2,2, 30,0}}; struct leg RR = {{ RCSERVO_USECHANNEL1,1, 30,0},{ RCSERVO_USECHANNEL3,3, 16,0},{ RCSERVO_USECHANNEL0,0, 38,0}}; unsigned long motion[32]; using namespace std; int Angle2ServoPos(double angle){ //result 500-2500 //angle in degrees(-90 to +90) 0 = center return (int)((angle * 2000/180) + 1500); } void ServoDriver(){ //Set servo type here first /*if (rcservo_SetServos( RCSERVO_USECHANNEL23 + RCSERVO_USECHANNEL22 + RCSERVO_USECHANNEL21 + RCSERVO_USECHANNEL18 + RCSERVO_USECHANNEL17 + RCSERVO_USECHANNEL16 + RCSERVO_USECHANNEL9 + RCSERVO_USECHANNEL10 + RCSERVO_USECHANNEL11 + RCSERVO_USECHANNEL4 + RCSERVO_USECHANNEL5 + RCSERVO_USECHANNEL2 + RCSERVO_USECHANNEL15 + RCSERVO_USECHANNEL13 + RCSERVO_USECHANNEL14 + RCSERVO_USECHANNEL1+RCSERVO_USECHANNEL3+RCSERVO_USECHANNEL0 , RCSERVO_SERVO_DEFAULT_NOFB)){*/ if (rcservo_SetServos( LF.Coxa.Pin + LF.Femur.Pin + LF.Tibia.Pin + LM.Coxa.Pin + LM.Femur.Pin + LM.Tibia.Pin + LR.Coxa.Pin + LR.Femur.Pin + LR.Tibia.Pin + RF.Coxa.Pin + RF.Femur.Pin + RF.Tibia.Pin + RM.Coxa.Pin + RM.Femur.Pin + RM.Tibia.Pin + RR.Coxa.Pin + RR.Femur.Pin + RR.Tibia.Pin , RCSERVO_SERVO_DEFAULT_NOFB)){ //Initialize servo now if (rcservo_Initialize( LF.Coxa.Pin + LF.Femur.Pin + LF.Tibia.Pin + LM.Coxa.Pin + LM.Femur.Pin + LM.Tibia.Pin + LR.Coxa.Pin + LR.Femur.Pin + //LR.Tibia.Pin + //If I comment any one of the pins it works fine RF.Coxa.Pin + RF.Femur.Pin + RF.Tibia.Pin + RM.Coxa.Pin + RM.Femur.Pin + RM.Tibia.Pin + RR.Coxa.Pin + RR.Femur.Pin + RR.Tibia.Pin )){ //sleep(1); rcservo_EnterPlayMode_NOFB(motion); rcservo_MoveTo(motion, 1000L); //rcservo_SetAction(motion, 2000L); //while (rcservo_PlayAction()!= RCSERVO_PAUSED){ //rcservo_PauseAction(); //}; //rcservo_Close(); //}else } else { //On error initialize servo printf("\n\nError: %s", roboio_GetErrMsg()); }; } else { //On error setting servo type printf("\n\nError: %s", roboio_GetErrMsg()); }; }; void MoveServos(){ rcservo_MoveTo(motion, 400L); } void SetHomePosition(){ RF.Coxa.Angle=RF.Coxa.Center+30; RM.Coxa.Angle=RM.Coxa.Center; RR.Coxa.Angle=RR.Coxa.Center-30; RF.Femur.Angle=RF.Femur.Center+30; RM.Femur.Angle=RM.Femur.Center+30; RR.Femur.Angle=RR.Femur.Center+30; RF.Tibia.Angle=RF.Tibia.Center+33; RM.Tibia.Angle=RM.Tibia.Center+33; RR.Tibia.Angle=RR.Tibia.Center+33; LF.Coxa.Angle=LF.Coxa.Center-30; LM.Coxa.Angle=LM.Coxa.Center; LR.Coxa.Angle=LR.Coxa.Center+30; LF.Femur.Angle=LF.Femur.Center-30; LM.Femur.Angle=LM.Femur.Center-30; LR.Femur.Angle=LR.Femur.Center-30; LF.Tibia.Angle=LF.Tibia.Center-33; LM.Tibia.Angle=LM.Tibia.Center-33; LR.Tibia.Angle=LR.Tibia.Center-33; }; void CalServoPositions(){ motion[RF.Coxa.PinNum]=Angle2ServoPos(RF.Coxa.Angle); motion[RM.Coxa.PinNum]=Angle2ServoPos(RM.Coxa.Angle); motion[RR.Coxa.PinNum]=Angle2ServoPos(RR.Coxa.Angle); motion[RF.Femur.PinNum]=Angle2ServoPos(RF.Femur.Angle); motion[RM.Femur.PinNum]=Angle2ServoPos(RM.Femur.Angle); motion[RR.Femur.PinNum]=Angle2ServoPos(RR.Femur.Angle); motion[RF.Tibia.PinNum]=Angle2ServoPos(RF.Tibia.Angle); motion[RM.Tibia.PinNum]=Angle2ServoPos(RM.Tibia.Angle); motion[RR.Tibia.PinNum]=Angle2ServoPos(RR.Tibia.Angle); motion[LF.Coxa.PinNum]=Angle2ServoPos(LF.Coxa.Angle); motion[LM.Coxa.PinNum]=Angle2ServoPos(LM.Coxa.Angle); motion[LR.Coxa.PinNum]=Angle2ServoPos(LR.Coxa.Angle); motion[LF.Femur.PinNum]=Angle2ServoPos(LF.Femur.Angle); motion[LM.Femur.PinNum]=Angle2ServoPos(LM.Femur.Angle); motion[LR.Femur.PinNum]=Angle2ServoPos(LR.Femur.Angle); motion[LF.Tibia.PinNum]=Angle2ServoPos(LF.Tibia.Angle); motion[LM.Tibia.PinNum]=Angle2ServoPos(LM.Tibia.Angle); motion[LR.Tibia.PinNum]=Angle2ServoPos(LR.Tibia.Angle); }; void RippleGait(){ //Move RF and LR forward RF.Femur.Angle = RF.Femur.Angle + 20; LR.Femur.Angle = LR.Femur.Angle - 20; CalServoPositions(); MoveServos(); RF.Coxa.Angle = RF.Coxa.Angle +20; RF.Tibia.Angle = RF.Tibia.Angle -20; //- expands LR.Coxa.Angle = LR.Coxa.Angle -20; LR.Tibia.Angle = LR.Tibia.Angle +20; //- expands CalServoPositions(); MoveServos(); RF.Femur.Angle = RF.Femur.Center+30; RF.Tibia.Angle = RF.Tibia.Center+33; //- expands LR.Femur.Angle = LR.Femur.Center-30; LR.Tibia.Angle = LR.Tibia.Center-33; //- expands CalServoPositions(); MoveServos(); RF.Coxa.Angle = RF.Coxa.Center+30; LR.Coxa.Angle = LR.Coxa.Center+30; RM.Coxa.Angle = RM.Coxa.Center+10; RR.Coxa.Angle = RR.Coxa.Center+10; LF.Coxa.Angle = LF.Coxa.Center-10; LM.Coxa.Angle = LM.Coxa.Center-10; CalServoPositions(); MoveServos(); //Move RR and LM forward RR.Femur.Angle = RR.Femur.Angle + 20; LM.Femur.Angle = LM.Femur.Angle - 20; CalServoPositions(); MoveServos(); RR.Coxa.Angle = RR.Coxa.Angle +20; RR.Tibia.Angle = RR.Tibia.Angle -20; //- expands LM.Coxa.Angle = LM.Coxa.Angle -20; LM.Tibia.Angle = LM.Tibia.Angle +20; //- expands CalServoPositions(); MoveServos(); RR.Femur.Angle = RR.Femur.Center+30; RR.Tibia.Angle = RR.Tibia.Center+33; //- expands LM.Femur.Angle = LM.Femur.Center-30; LM.Tibia.Angle = LM.Tibia.Center-33; //- expands CalServoPositions(); MoveServos(); RR.Coxa.Angle = RR.Coxa.Center-30; LM.Coxa.Angle = LM.Coxa.Center; CalServoPositions(); MoveServos(); //Move RM and LF forward RM.Femur.Angle = RM.Femur.Angle + 20; LF.Femur.Angle = LF.Femur.Angle - 20; CalServoPositions(); MoveServos(); RM.Coxa.Angle = RM.Coxa.Angle +20; RM.Tibia.Angle = RM.Tibia.Angle -20; //- expands LF.Coxa.Angle = LF.Coxa.Angle -20; LF.Tibia.Angle = LF.Tibia.Angle +20; //- expands CalServoPositions(); MoveServos(); RM.Femur.Angle = RM.Femur.Center+30; RM.Tibia.Angle = RM.Tibia.Center+33; //- expands LF.Femur.Angle = LF.Femur.Center-30; LF.Tibia.Angle = LF.Tibia.Center-33; //- expands CalServoPositions(); MoveServos(); RM.Coxa.Angle = RM.Coxa.Center; LF.Coxa.Angle = LF.Coxa.Center-30; CalServoPositions(); MoveServos(); }; void TripodGait(){ //Move RF & LM & RR forward RF.Femur.Angle = RF.Femur.Angle + 20; LM.Femur.Angle = LM.Femur.Angle - 20; RR.Femur.Angle = RR.Femur.Angle + 20; CalServoPositions(); MoveServos(); RF.Coxa.Angle = RF.Coxa.Angle +20; RF.Tibia.Angle = RF.Tibia.Angle -20; //- expands LM.Coxa.Angle = LM.Coxa.Angle -20; LM.Tibia.Angle = LM.Tibia.Angle +20; //- expands RR.Coxa.Angle = RR.Coxa.Angle +20; RR.Tibia.Angle = RR.Tibia.Angle -20; //- expands CalServoPositions(); MoveServos(); RF.Femur.Angle = RF.Femur.Center+30; RF.Tibia.Angle = RF.Tibia.Center+33; //- expands LM.Femur.Angle = LM.Femur.Center-30; LM.Tibia.Angle = LM.Tibia.Center-33; //- expands RR.Femur.Angle = RR.Femur.Center+30; RR.Tibia.Angle = RR.Tibia.Center+33; //- expands CalServoPositions(); MoveServos(); RF.Coxa.Angle = RF.Coxa.Center+30; LM.Coxa.Angle = LM.Coxa.Center; RR.Coxa.Angle = RR.Coxa.Center-30; LF.Femur.Angle = LF.Femur.Angle - 20; RM.Femur.Angle = RM.Femur.Angle + 20; LR.Femur.Angle = LR.Femur.Angle - 20; CalServoPositions(); MoveServos(); //Move LF & RM & LR forward LF.Coxa.Angle = LF.Coxa.Angle -20; LF.Tibia.Angle = LF.Tibia.Angle +20; //- expands RM.Coxa.Angle = RM.Coxa.Angle +20; RM.Tibia.Angle = RM.Tibia.Angle -20; //- expands LR.Coxa.Angle = LR.Coxa.Angle -20; LR.Tibia.Angle = LR.Tibia.Angle +20; //- expands CalServoPositions(); MoveServos(); LF.Femur.Angle = LF.Femur.Center-30; LF.Tibia.Angle = LF.Tibia.Center-33; //- expands RM.Femur.Angle = RM.Femur.Center+30; RM.Tibia.Angle = RM.Tibia.Center+33; //- expands LR.Femur.Angle = LR.Femur.Center-30; LR.Tibia.Angle = LR.Tibia.Center-33; //- expands CalServoPositions(); MoveServos(); LF.Coxa.Angle = LF.Coxa.Center-30; RM.Coxa.Angle = RM.Coxa.Center; LR.Coxa.Angle = LR.Coxa.Center+30; CalServoPositions(); MoveServos(); }; int main() { //set roboard version in our case its roboard 100 roboio_SetRBVer(RB_100); SetHomePosition(); CalServoPositions(); ServoDriver(); //do 4 steps for (int i=0;i<3;i++){ TripodGait(); } return 0; }

I have using this source code to Roboard RB-110, but why the servos is getting hot ?

Statistics: Posted by foe.pexal — Mon Oct 25, 2010 7:57 pm

18 servos moving randomly using rcservo_EnterPlayMode_NOFB

2010-10-12T06:09:17+01:00

Please check the following two lines in your function ServoDriver():

Code:: rcservo_EnterPlayMode_NOFB(motion); rcservo_MoveTo(motion, 1000L);

The first line calls rcservo_EnterPlayMode_NOFB(motion), which will move all servos to the positions defined by motion in the fastest speed. This can make servos look like moving randomly.

The second line calls rcservo_MoveTo(motion, 1000L) to move all servos again to the same positions defined by motion, which actually takes no effect.

The following steps may help you to debug further:

1.
Please check whether the random move is caused when calling rcservo_EnterPlayMode_NOFB().

2.
After calling rcservo_EnterPlayMode_NOFB(), please check whether your function TripodGait() works normally.

Statistics: Posted by roboard — Tue Oct 12, 2010 6:09 am

18 servos moving randomly using rcservo_EnterPlayMode_NOFB

2010-10-11T17:52:09+01:00

Hi,

1.

I printed

LF.Coxa.Pin + LF.Femur.Pin + LF.Tibia.Pin +
LM.Coxa.Pin + LM.Femur.Pin + LM.Tibia.Pin +
LR.Coxa.Pin + LR.Femur.Pin + LR.Tibia.Pin +
RF.Coxa.Pin + RF.Femur.Pin + RF.Tibia.Pin +
RM.Coxa.Pin + RM.Femur.Pin + RM.Tibia.Pin +
RR.Coxa.Pin + RR.Femur.Pin + RR.Tibia.Pin

and it comes out as e7ee3f

2.

I checked each element of motion and all of them are between 1000- 1800

3. tried with 2 servos connected and the 18 servo code moves them randomly.

it seems like if the servo value is set as 1600 then it moves from around 1300 - 1900 really fast.

I even tried with 2 new 645mg servos still same problem

btw I am running the code on ubuntu. Also tried without the gnome (in command line) still no luck.

Thanks

Statistics: Posted by dragonax — Mon Oct 11, 2010 5:52 pm

18 servos moving randomly using rcservo_EnterPlayMode_NOFB

2010-10-11T15:40:03+01:00

dragonax wrote:
I don't think the error is in the initializing in my code it only happens at the rcservo_MoveTo Command.

Hi,

we have test 18 KONDO KRS-786 servos on RB-100 & RoBoIO 1.61 with the same channels: channel 0, 1, 2, 3, 4, 5, 9, 10, 11, 13, 14, 15, 16, 17, 18, 21, 22, 23. And rcservo_MoveTo() works normally; so it may not be the issue of RoBoIO.

The following steps may help you to debug:

1.
print

LF.Coxa.Pin + LF.Femur.Pin + LF.Tibia.Pin +
LM.Coxa.Pin + LM.Femur.Pin + LM.Tibia.Pin +
LR.Coxa.Pin + LR.Femur.Pin + LR.Tibia.Pin +
RF.Coxa.Pin + RF.Femur.Pin + RF.Tibia.Pin +
RM.Coxa.Pin + RM.Femur.Pin + RM.Tibia.Pin +
RR.Coxa.Pin + RR.Femur.Pin + RR.Tibia.Pin

to see whether it is equal to 0x00e7ee3f.

2.
print each element of motion[32], before calling rcservo_MoveTo(), to see whether it is a valid PWM width for your servos.

3.
run only 2 or 3 servos with your 18 servo code to see whether it works.

Statistics: Posted by roboard — Mon Oct 11, 2010 3:40 pm

18 servos moving randomly using rcservo_EnterPlayMode_NOFB

2010-10-10T20:00:57+01:00

I haven't tested with just one servo but I did test with 16 servos running for 18 servo code just removed two servos. I will try with just one servo. I have seen the post you mentioned. the same thing happened to me when i connected the servos directly to the roboard (I mean the board reset) so I connected the power to servos separately which solved that issue. I don't think the error is in the initializing in my code it only happens at the rcservo_MoveTo Command.

I am running in ubuntu under root so it has all permission and the code is the one I posted before.

Thanks

Statistics: Posted by dragonax — Sun Oct 10, 2010 8:00 pm

18 servos moving randomly using rcservo_EnterPlayMode_NOFB

2010-10-10T13:05:21+01:00

dragonax,

I would guess it's a code issue, and not a hardware problem. Does it do the same with only 1 servo connected, and 18 enabled in your code? That kind of test would help point to where the problem is coming from. The surge current for a pile of servos can be really high if the moves start far from their intended destination. There was a post a while back where someone's board rebooted (same power supply for servos and Roboard) when moving a bunch of servos. He added a 1mS delay between position updates on the servos (I forget the code, but he posted it here somewhere) so all the servos wouldn't "hit" at the same time.

foe.pexal,

What version of the Roboard source are you using? Are you trying to run the example program? Are you running under an "Administrator" account? WinIO doesn't need much to initialize, access rights or version would be the only two reasons I can think of that would prevent it from initializing.

Statistics: Posted by PaulL — Sun Oct 10, 2010 1:05 pm

18 servos moving randomly using rcservo_EnterPlayMode_NOFB

2010-10-09T20:40:02+01:00

ok, thank you dragonax.. can anyone else help me??

Statistics: Posted by foe.pexal — Sat Oct 09, 2010 8:40 pm

18 servos moving randomly using rcservo_EnterPlayMode_NOFB

2010-10-09T06:22:28+01:00

Sorry foe-pexal I am not familiar with xp on roboard.

Statistics: Posted by dragonax — Sat Oct 09, 2010 6:22 am

18 servos moving randomly using rcservo_EnterPlayMode_NOFB

2010-10-09T06:21:18+01:00

I have tried changing the code to const unsigned long but no luck
also I removed 2 servos and tried the 18servos code like you said and it moves still randomly. so its not a problem with the power supply.

I am running Ubuntu 10.04, could it be that the pulses are not sent every 20 ms (May be a delay because of processing)?.

Statistics: Posted by dragonax — Sat Oct 09, 2010 6:21 am

18 servos moving randomly using rcservo_EnterPlayMode_NOFB

2010-10-07T09:52:31+01:00

I am not using Linux OS, but use WinXP SP 2 build 2600 and microsoft visual studio 2008 as programming software. I already include the RoBoIO library, but it still fails to initialize I/O library. what should I do?

Statistics: Posted by foe.pexal — Thu Oct 07, 2010 9:52 am

18 servos moving randomly using rcservo_EnterPlayMode_NOFB

2010-10-07T01:08:29+01:00

Are you running the program under root. If not execute the program as "sudo programname" to give root privileges.

Statistics: Posted by dragonax — Thu Oct 07, 2010 1:08 am

18 servos moving randomly using rcservo_EnterPlayMode_NOFB

2010-10-06T17:51:56+01:00

hi... i have used Roboard RB-110 and unfortunately i have some problem when i execute the program, the program always fails to initialize I/O library, what should i do to fix this problem whereas i've followed the instructions from Roboard training software's tutorial?

Statistics: Posted by foe.pexal — Wed Oct 06, 2010 5:51 pm