Tricycle

[inaki]

Here is a trycicle design. The desing is compact thanks to the daisy chaining servos. I was trying to place an additional servo on the front wheel to make it rotate but I have been unable to find a way to connect two servos at 90 deg. Any ideas about how to do so ?

[Pev]

Inaki,

I hope I have understood what you are trying to achieve I think you may be able to do it like this:



That would allow you to "steer" the front wheel I think.

I also have a question for you - how did you achieve the continuous rotation of the servo. I have read it can be done but have as yet not found out how. Could you share that with us please?

Many Thanks

Pev

[Pev]

Oh forgot to mention that this way of steering may work better if the single wheel is at the back and it steers from the back.

Pev

[barbar]

Good design - looks like a racer!

You may also screw the small bracket (in Pevs pic the smaller one) directly to the horn (correct word?) of the servo ...

[inaki]

Continuous rotation may be achieved by means of setting CW/CCW limits to zero (according to Ax12 manual).

Before I write these values, 8O , I am trying to read these registers. However I cannot get consistent results. Actually I have found that I cannot get consistent results from any register !

Do you have played with registers through Robot Terminal ? You do get consistent results ? For example try to set a position and read back the position registers (Registers 30 and 31). Do you get any meaningful data ?

According to AX12 manual I can *write* values to registers using Robot Terminal, but can I read values ?

[barbar]

inaki

I think the best way to read the AX-12 register is to use "dump".

I tested the write command as well in turning an AX-12 LED on and off as explained in the manual page 82

[barbar]

supplement:

If you "dump" the AX-S1 (1. cid 100 2. dump) then it looks as if it was an AX-12. But I think values are correct and the terminal program guys were only to lazy to change the description in the first column ... they really need help

edited a few hours later (sorry):

The values seem to be correct but adress # 50, 52, 53 wont be displayed (in contrast to manual page 29)

[Pev]

Continuous rotation may be achieved by means of setting CW/CCW limits to zero (according to Ax12 manual).

Before I write these values, 8O , I am trying to read these registers. However I cannot get consistent results. Actually I have found that I cannot get consistent results from any register !

Do you have played with registers through Robot Terminal ? You do get consistent results ? For example try to set a position and read back the position registers (Registers 30 and 31). Do you get any meaningful data ?

According to AX12 manual I can *write* values to registers using Robot Terminal, but can I read values ?

inaki

Thank you for the information. I have not had a proper play with the robot terminal interface but will have a go with it tomorrow morning and see what results I get. I will be sure to update the board too

Pev

[Pev]

inaki,

Had a quick play with the robot terminal.

It says I can read a register with the rd command and write a register with the wr command. Decided to try turning on and off the led on servo 1

did an rd 25 1 for servo 1 and was told the LED was on - it wasn't
did a wr 25 1 for servo 1 and the led turned on
did an rd 25 1 for servo 1 and was told the LED was on - it was
did a wr 25 0 for servo 1 and LED turned off
did an rd 25 1 for servo 1 and was told the LED was on - it wasn't

So I too don't seem to be able to get consistent results (or rather I do but they are often wrong)

Will investigate more tomorrow

Pev

[barbar]

Sure? I checked rd, wr, dump on 3 different AX-12 (only adress 25 = LED) but with correct results ...

[Pev]

rechecked it and yep Barbar you're right I messed up. Was mis-reading the results. Have just checked a number of values and I do get the right answers, Appologise for the mess up on my part. (Knew I should have waited til I'd slept)

Pev