Is multiple servo real-time control possible on RCB3?
Is multiple servo real-time control possible on RCB3?
by czyl
Mon Jul 09, 2007 2:20 am
I'm writing real-time control software on top of Laurent Lessieux's API for the RCB3, but I can't seem to find a command that will simultaneously let me move a set of servos to given positions.
It looks like there is such a command for the RCB-1: SendRCB-1PositiontoRobot. Is there any analogous command I can use for the RCB-3?
I've been trying to use SetPortSpeedAndPosition in the Lessieux API, and while it works fine for a single servo it behaves erratically when I try to set multiple servos in sequence -- every servo resets to home and then jumps back into place. I'm sure it'd be possible to write to the EEPROM and then play immediately, but this isn't the solution I'm looking for; I just want to move several servos continuously as my program controls the robot.
If anyone could point me in the direction of something in the API or in the published/translated command reference that could do this, it'd be greatly appreciated. (Bytestream examples would be welcome; I haven't been able to find any specific to the KHR-1HV so far!)
It looks like there is such a command for the RCB-1: SendRCB-1PositiontoRobot. Is there any analogous command I can use for the RCB-3?
I've been trying to use SetPortSpeedAndPosition in the Lessieux API, and while it works fine for a single servo it behaves erratically when I try to set multiple servos in sequence -- every servo resets to home and then jumps back into place. I'm sure it'd be possible to write to the EEPROM and then play immediately, but this isn't the solution I'm looking for; I just want to move several servos continuously as my program controls the robot.
If anyone could point me in the direction of something in the API or in the published/translated command reference that could do this, it'd be greatly appreciated. (Bytestream examples would be welcome; I haven't been able to find any specific to the KHR-1HV so far!)
