RoboBAsic G6x data items and weird timing
RoboBAsic G6x data items and weird timing
by robots42
Wed Jul 30, 2008 4:18 pm
Hi
I have been looking at the Template code and making a library of reuseable blocks. Something odd seems to happen with the PTP and Speed depending on whether or not G6x has 5 or 6 data items. In Hitecs latest fast-walk there are only 5 data items corresponding to the five servos used. However in other routines there are often 6 items and the data for the nonexistant 6th servo is sometimes 60, or 70 or 100. If this value is greater than the other values then with PTP on it will obviously affect the overall speed of the move. BUT removing the 6th data item sometimes affects the speed of the move even when the 6th value is say 10. Why does RoboBasic need this value sometimes and not others? Removing the 60s from backward_walk1: makes RN jerk and fall over, anybody know why?
ie
MOVE G6A, 85, 71, 152, 91, 112, 60
MOVE G6D,112, 76, 145, 93, 92, 60
works
MOVE G6A, 85, 71, 152, 91, 112
MOVE G6D,112, 76, 145, 93, 92
doesn't work
MOVE G6A, 85, 71, 152, 91, 112,
MOVE G6D,112, 76, 145, 93, 92,
doesn't work
MOVE G6A, 85, 71, 152, 91, 112, ,
MOVE G6D,112, 76, 145, 93, 92, ,
doesn't work
David
I have been looking at the Template code and making a library of reuseable blocks. Something odd seems to happen with the PTP and Speed depending on whether or not G6x has 5 or 6 data items. In Hitecs latest fast-walk there are only 5 data items corresponding to the five servos used. However in other routines there are often 6 items and the data for the nonexistant 6th servo is sometimes 60, or 70 or 100. If this value is greater than the other values then with PTP on it will obviously affect the overall speed of the move. BUT removing the 6th data item sometimes affects the speed of the move even when the 6th value is say 10. Why does RoboBasic need this value sometimes and not others? Removing the 60s from backward_walk1: makes RN jerk and fall over, anybody know why?
ie
MOVE G6A, 85, 71, 152, 91, 112, 60
MOVE G6D,112, 76, 145, 93, 92, 60
works
MOVE G6A, 85, 71, 152, 91, 112
MOVE G6D,112, 76, 145, 93, 92
doesn't work
MOVE G6A, 85, 71, 152, 91, 112,
MOVE G6D,112, 76, 145, 93, 92,
doesn't work
MOVE G6A, 85, 71, 152, 91, 112, ,
MOVE G6D,112, 76, 145, 93, 92, ,
doesn't work
David
by i-Bot
Wed Jul 30, 2008 4:48 pm
All of your last 3 examples compile in Robobasic to have a zero in the 6th servo position. When the move is interpreted a zero value is not included in the ptp calculation.
The important thing in the PTP is not the absolute value, but the difference between the last value and the new value. The servo with the largest difference will move at the set speed and the rest proportionally slower. This calculation is done over the group, or over all if PTP ALL is set.
If this doesn't help you sort it out, then post the whole block of code for the move
The important thing in the PTP is not the absolute value, but the difference between the last value and the new value. The servo with the largest difference will move at the set speed and the rest proportionally slower. This calculation is done over the group, or over all if PTP ALL is set.
If this doesn't help you sort it out, then post the whole block of code for the move
by robots42
Thu Jul 31, 2008 7:27 pm
Thank you.
I expected that values for missing servos higher than the other values would slow down the whole move, but didn't expect zero values to have an effect on the PTP operation as a whole, but only sometimes!
I shall investigate further.
Regarding PTP
if PTP SETON is used, does this mean PTP is done for each group individually
so one group can finish before another?
David
I expected that values for missing servos higher than the other values would slow down the whole move, but didn't expect zero values to have an effect on the PTP operation as a whole, but only sometimes!
I shall investigate further.
Regarding PTP
if PTP SETON is used, does this mean PTP is done for each group individually
so one group can finish before another?
David