Uploading program to CM5

[clusher]

Hi all.

I'm programming the CM5 using C and WinAVR.
To upload a program to CM5 when it has the original Robotis firmware I have to go to Robot Terminal and press shift+3 for a while, then type load and transmit file.

But how can I change to a new program after uploading my program? The same way doesn't work, and I can't simply transmit the file... What am I missing? So far, I've been uploading back to Robotis firmware and transmit my new program... but it has to be simpler than that! Do I need to program a loader or something?

[limor]

it may be because you press 3 times only.
whenever you press the reset red button on the CM5 while you press continuously the '#' key in robot terminal (it will display many ###########), you will see the bootloader prompt regardless of what firmware is in the flash memory.

[clusher]

Just noticed i forgot to thank you for the answer. You were right, of course.

Now a radical different question. I'm trying to copy cat a small experience I saw on youtube: http://www.youtube.com/watch?v=HpFGROm-LQM

I've decided to use a position control based on the torque applied on the ankles. As the slope increases, so does the torque and I try to adjust the legs the way the video shows.

The first thing is the torque is really noisy. Just by being on a standup position I get torques of 0-120 on either direction, while I expected to see a zero torque. The second is that as I increase the slope the torque doesnt change until it is too late (robot falling over or sliding...)

I started out by making a velocity control loop, but the problems with the servos were the same...

Any ideas how to improve the feedback? I tried lowering the center of mass (bending the knees), but didn't too much...

[StuartL]

The torque feedback algorithm in the AX-12 standard firmware is shocking. We're working on an improved algorithm but in the short term there's an immediate work-around:

Change the stance so that some of the servos are under high load, e.g. the hips, thighs or knees. When you lose the load from these you know that the leg is unloaded.

Or, alternatively, fit an IMU

[clusher]

Back from holidays

Yeah, I'm waiting for a few extras for bioloid, including the IMU.

The work around seems good, but it gets too slow to read 3 or 4 torque values on a closed loop... Did you guys finish remaking the AX-12 firmware? I read somewhere it would have more reliable readings and faster response...

[StuartL]

"Finished" is the wrong word. We haven't yet done the torque feedback or PID control, the SYNC_READ isn't written yet either. However the other stuff (including on the fly reflashing) is all done.

I'm going to see Matt on Thursday, I'll see if we can get more of the servo firmware done in the next few weeks