Servo Speed

[dragonax]

Is it possible to control the speed of the servo on the roboard like how you can do in ssc-32 servo controller?

[tommylin]

Hi Dragonax,
My project video below ..
http://www.youtube.com/watch?v=WkezSkJUU3Q
I can Adjustment servo speed for Robot walking position.

[dragonax]

How did you managed to do this?
I want to control the speed of servos for my hexapod any idea on how to do this

Thanks

[tommylin]

did you got RoboIO.LIB or RoboIO source code from www.roboard.com yet ?

[dragonax]

Im using roboio source latest version running in Linux

[tommylin]

used RoboIO is very simple.

call RoboIO API ..
rcservo_MoveTo(unsigned long* width, unsigned long playtime);

that's it,
I hope can help you, and see your hexapod project video soon ^^

[dragonax]

I have tried this but I can't seem to get it working I was using rceservo_SendPWMPulses before.

I tried the following with no luck

Code: Select all

if (rcservo_SetServo(2, RCSERVO_SERVO_DEFAULT_NOFB))
{
  if (rcservo_Initialize(RCSERVO_USECHANNEL2))
  {
    unsigned long motion[32];
    unsigned long count=100;
    motion[2] =1500;
    rcservo_EnterPlayMode_HOME(motion);
   
    rcservo_MoveTo(motion, count);
    while (rcservo_PlayAction() != RCSERVO_PLAYEND)
    {
    }
    rcservo_Close();
  }
}

[tommylin]

need to confirmed 2 thing ..
A. what's your board version RB-100 ? RB-110 ?
B. RoboIO Lib Version ? 1.5 or 1.6 ?

my code ..

Code: Select all

static unsigned long ActionData[100][24]//[FrameNo][ChannelNo];

roboio_SetRBVer(RB_100); // 為RoBoard RB-100
for ( int i=0; i < 24; i++ )                                       
  rcservo_SetServo ( i, RCSERVO_HITEC_HSR8498 );
                  
rcservo_Initialize(
                     RCSERVO_USECHANNEL0 + RCSERVO_USECHANNEL1 + RCSERVO_USECHANNEL2 +
                     RCSERVO_USECHANNEL3 + RCSERVO_USECHANNEL4 + RCSERVO_USECHANNEL5 +
                     RCSERVO_USECHANNEL6 + RCSERVO_USECHANNEL7 + RCSERVO_USECHANNEL8 +
                     RCSERVO_USECHANNEL9 + RCSERVO_USECHANNEL10 + RCSERVO_USECHANNEL11 +
                     RCSERVO_USECHANNEL12 + RCSERVO_USECHANNEL13 + RCSERVO_USECHANNEL14 +
                     RCSERVO_USECHANNEL15 );//+ RCSERVO_USECHANNEL16 + RCSERVO_USECHANNEL17 +
                     //RCSERVO_USECHANNEL18 + RCSERVO_USECHANNEL19 + RCSERVO_USECHANNEL20   );

rcservo_EnterPlayMode ();

rcservo_MoveTo(  ActionData[CurrentFrameNo], 500L );

[dragonax]

Thanks for the code but it doesn't work for me

I tried with the following

Code: Select all

ActionData[0][2]=1500;
rcservo_MoveTo(ActionData[0],500L);


[dragonax]

my board is RB_100 and roboio ver is 1.6

[dragonax]

I got it working I had to change to

Code: Select all

rcservo_EnterPlayMode_NOFB(motion);


But still rcservo_MoveTo() function doesn't control the speed of the servo Any idea how to achieve this?

[roboard]

I tried the following with no luck

...

Hi, please try the following code again:

Code: Select all

if (rcservo_SetServo(2, RCSERVO_SERVO_DEFAULT_NOFB))
{
  if (rcservo_Initialize(RCSERVO_USECHANNEL2))
  {
    unsigned long motion[32];
    motion[2] =1500;
    rcservo_EnterPlayMode_NOFB(motion);
   
    motion[2] =1800;
    rcservo_MoveTo(motion, 1000L); //move servo in channel 2 from position 1500 (us) to 1800 (us) in 1sec
    rcservo_Close();
  }
}

In rcservo_EnterPlayMode_NOFB(motion), the "motion" must be the home (initial) position of servo; and in rcservo_MoveTo(motion, 1000L), the "motion" is the destination (target) position.

When calling rcservo_MoveTo(), servo will move from the last position to the specified destination position. For example, if you want servo to move from home, motion1, motion2, ..., to motion 10, then you can write

Code: Select all

unsigned long home[32];
unsigned long motion1[32];
unsigned long motion2[32];
...
unsigned long motion10[32];

...
... //set value for home, motion1, ..., motion10
...

rcservo_EnterPlayMode_NOFB(home);
rcservo_MoveTo(motion1, 200L); //move from home to motion1 in 200ms
rcservo_MoveTo(motion2, 200L); //move from motion1 to motion2 in 200ms
rcservo_MoveTo(motion3, 200L); //move from motion2 to motion3 in 200ms
...
rcservo_MoveTo(motion10, 200L); //move from motion9 to motion10 in 200ms


[dragonax]

Thanks a lot it works now