My Motion Capture Technique

[DirtyRoboto]

Here are a few bits of technique I use when using the motion capture system in Robobasic.
For Motion capture (now known as MC) I only use F7 and an untitled.bas

With the MC window open, when you add a move to the untitled.bas you can also edit that move or add statements while keeping the MC window active.

I might add a move from the MC into untitled.bas and then select untitled.bas and type a WAIT statement after the move command. Or enter a FOR/NEXT loop as I am doing the motion capture.

I also MC with the Robot infront of me, on the desk between me and the keyboard.

Lets say I want to make the robot move into a sit position. I would run RoboBasic and power the robot on and plug in. I hit F7 and enter MC. It reads the servo positions, now I am ready to go.

So I will be bending the robots legs, groups A and D. With my left hand I grasp the robot at the hips and support it, so that the robot is neutral.
I then click the ALL check boxes for A and D to turn the leg servos off.
I now let the robots weight aid me in dropping to a sitting position. You could take as many servo snapshots during this process as you want.
I then turn the servos back on with the ALL check boxes let go of my support and check the resting position. I give the robot a push or two to make sure its balance is within a good range. and if I am happy I insert the moves into untitled.bas
I can then adjust the servos using the dials and enter the changes by typing them into untitled.bas over the original MOVE commands.

End of PT1

Marcus.