RCB-1 specifications and servo controls
RCB-1 specifications and servo controls
by matsunardi
Thu Jun 25, 2009 3:00 am
Hello,
I'm working (or playing) with a KHR-1 (1st generation) and have a couple of questions I couldn't find any answers yet. I apologize for 'dumping' all my questions into one thread; these questions have been bugging me for a while after not being able to find an answer.
1. I'm trying to find the datasheet or technical documentation for RCB-1 to no avail (sad to say, even Kondo's website was pretty useless). Does anybody have any or could point to a good reference for it? All I know so far is that it uses the PIC16F873A microcontroller (found the datasheet), 128kb memory, and not much more. In particular, I would like to know the schematics, communication protocol, and how the PIC16F873A is being used.
2. there was some discussions that we can read the servo position? I would like my program (in Python) to read the positions but couldn't figure out how to do that - i don't think it's mentioned in the RCB-1Draft (protocol) documentation.
3. the H2H software is able to turn individual servo on-and-off on command (i.e. on the learning tool). I was wondering how to do that from my program, but also wondering if there is any negative side-effect of doing that when the robot is moving (for example: rotate the arm up, then turn off the shoulder servo so the arm falls down by itself).
4. I'm controlling the KHR-1 by sending a stream of servo positions (vs. executing a stored motion or scenario in the EEPROM). I'm wondering if anybody has any experience with this method? Is there any big issues? I'm not sure that every position that was sent is executed. Or rather, how can I be sure that each position I sent is received by RCB-1, and is being sent to the servos? (i may have hundreds of servo positions being sent serially)
I appreciate any feedback (either on the questions, or my forum-posting etiquette - i'm rather new at this). Thank you so much.
M.
I'm working (or playing) with a KHR-1 (1st generation) and have a couple of questions I couldn't find any answers yet. I apologize for 'dumping' all my questions into one thread; these questions have been bugging me for a while after not being able to find an answer.
1. I'm trying to find the datasheet or technical documentation for RCB-1 to no avail (sad to say, even Kondo's website was pretty useless). Does anybody have any or could point to a good reference for it? All I know so far is that it uses the PIC16F873A microcontroller (found the datasheet), 128kb memory, and not much more. In particular, I would like to know the schematics, communication protocol, and how the PIC16F873A is being used.
2. there was some discussions that we can read the servo position? I would like my program (in Python) to read the positions but couldn't figure out how to do that - i don't think it's mentioned in the RCB-1Draft (protocol) documentation.
3. the H2H software is able to turn individual servo on-and-off on command (i.e. on the learning tool). I was wondering how to do that from my program, but also wondering if there is any negative side-effect of doing that when the robot is moving (for example: rotate the arm up, then turn off the shoulder servo so the arm falls down by itself).
4. I'm controlling the KHR-1 by sending a stream of servo positions (vs. executing a stored motion or scenario in the EEPROM). I'm wondering if anybody has any experience with this method? Is there any big issues? I'm not sure that every position that was sent is executed. Or rather, how can I be sure that each position I sent is received by RCB-1, and is being sent to the servos? (i may have hundreds of servo positions being sent serially)
I appreciate any feedback (either on the questions, or my forum-posting etiquette - i'm rather new at this). Thank you so much.
M.
