Advice needed to modify bioloid premium type A task code

[hugobiwan]

Hello from France.
I am a little bit ashamed to post this, but i am progressing in a personal project mixing virtual world and a robot from january now, REMI project (Robot Enabled for Mixed Interaction).

The blog of the project is here http://mixedreality.blogspot.com. Slides here : http://www.slideshare.net/Huggy/remi-project-robot-enabled-for-mixed-interaction

REMI has been funded by social network friends and i learn things at home, progressing in the project.

In july, the project won a little innovation contest and i had enough money to updgrade my comprehensive kit (arduino modified and plugged to open simulator through python) with gyro, CM510 etc. The goal is to use the gyro when the robot walk in the real world, driven by the avatars.

I was sending orders to the robot with an arduino card in "program mode", but now i and sending remote control codes through the mini-jack in "play mode" with the CM 510.

My problem is very simple but i need help of more experienced roboters :

with the example tsk code provided by robotis for bioloid premium A http://support.robotis.com/en/baggage_files/bioloid/bio_prm_humanoidtypea_en.tsk
in remote control mode, the robot always makes the initial pose after every motion i can launch.

But in my project the robot must play some motions without going back to the "initial pose". I want to keep the walk motions and gyro use "as is", but i created some motions for my project that are synchronized with motions of the robot avatar. Left arm moves when humans are detected, right arm moves when avatars are detected, both arms when humans and avatars are detected. Them REMI launch some social tools.

So i would be very grateful if any person used to program in robotask could help me to modify the example code : i tried many things but it does not work.

My goal is simply to use L+1/U+1/R+1/D+1 and U+2 to play a motion page, and that the robot stay at the end of the motion whitout going back to the "inital" motion.

Sorry for the low level of the question, but i really want to go on in the project. Please, help !
@hugobiwan

[limor]

there is no problem in getting the robot not to go back to standing position if you use the motion editor. have you read all the instructions and tutorials to use use the motion editor ?

[hugobiwan]

Thank you for replying.

No problem with the motion editor : "next" motion is zero after my "special" motions. And if i play them outside of the robotis task code no problem.

But i want to use the gyro code, and keep 70% of the example task code

The problem is in the way to tweak the task code. I just removed a part of the code that seems to put the robot in the "balance page" if motion status is "false". Lines 485-491 in the bioloid premium type A tsk default code.

It seems to work. Now i must test the other remote commands and see what are the other consequences... My kids are in bed now so i can't wake up the robot.

I thank you and shall post here the results.

Best regards.
@hugobiwan

[UncleBob]

I must say it took me a long while before I could understand the default tsk code.

Even now I find motion=0 & motion=-1 is not doing what it is suppose to do i.e. exit the loop and go to the exit page.