motion and acceleration speed setting

[ryann2k1]

Hi....
does anyone know which address of the CM-5 need to be change if I want to set the motion speed and the acceleration time ( it is available in motion editor).
I have made my own C code for walking but it looks really awkward as the motion is really slow... ( I tried to change P_GOAL_SPEED to 3ff and the walking looks really strange).
I took the walking sample page 60-63-64-65-62-62 in motion editor and implemented my C code and the results are the same.

cheers,


ryann2k1

[Zypkin]

The motion editor does not set any register in the CM5.
It simply creates position profiles for each servo and writes them into the CM5 memory... and that's why using the standard Bioloid package U can set the acceleration only in the motion editor and not on the fly while the program is running: everything is precalculated.
If you want change the motion speed/acceleration in your software you need to calculate yourself the acceleration profile.

I didnt try it yet but I guess if you do not set anything the servo should move at its maximum speed... probably Jon can give you a more precise answer.

Cheers,
Zyp

[ryann2k1]

Hi Zyp,
I have tried to add some delay, but it seems it is not working succesfully.
Maybe I have to be more patience


cheers,

ryann2k1

[ryann2k1]

I am getting frustrated with awkward walking motion.
Does anyone use C code to generate a walking motion for the bioloid?

cheers,

ryann2k1

[Zypkin]

Do you watch the motion flag on the servos???????
...if you send a new position before the last position is reached (servo is still moving) U get very likely a strange behavior.


Zyp

[ryann2k1]

it keeps monitoring. whenever the goal position has been achieved then the next goal positon will be executed.
The motion is just like a slow motion.
do you develop your own C for walking?


cheers,

ryann2k1

[ryann2k1]

Finally..I made it...
My robot can work properly..
Thanks...

cheers,

ryann2k1

[Zypkin]

Finally..I made it...
My robot can work properly..

...hey
...but now u gotta tell us what was wrong

Zyp

[ryann2k1]

Dont worry...
Previously, I kept monitoring the flag whether each dynamixel had finished doing the motion or not, this had made a delay to the walking gaits. Once I take it off, my robot walks properly.



cheers,

ryann2k1

[Zypkin]

weird...

[ryann2k1]

that's why It was hard to figure it,I just tried then it works....