Squirrels have fuzzy tails.
0 Members and 1 Guest are viewing this topic.
TICK_COUNT appInitSoftware(TICK_COUNT loopStart){ servosDisconnect(&bank1); servosDisconnect(&bank2); servosDisconnect(&bank3); return 0;}
Are you using Version 1 or Version 2 of WebbotLib? I can then tell you how to change the generated code to do what you are asking and you can see if it works (before I make any changes to Project Designer). In the meantime it will mean you having to remake the change every time you do a code generation from Project Designer as it will overwrite your changes.
I'm using version 2 of Webbotlib.
// Re-connect the servo act_setConnected(servo,TRUE);
// Dis-connect the servo act_setConnected(servo,FALSE);
Let me know whether it does what you want, or not.
Servo jitter during startup is a flaw in the servos themselves. When power is ramped up, the position system gets all flaky for a fraction of a second.You can verify this by directly connecting a battery to a servo and watching what happens.
Fairly related question...Using AX-12 servos with an Axon... When I power servos then power on the axon, some servos will zero themselves, but others won't... Varies depending on which project code I have loaded to the Axon. This doesn't happen when the code doesn't use AX-12s, though.
As I understand the command servosDisconnect(&bank1) completely disconnects power supply to servos, because it makes my servos lose all torque, so I can move them with my hand. Why is it not possible to start the AXON without providing power to servos at start-up? Thanks
All of the servo drivers in WebbotLib will initialise the servo as being connected and the speed set to 0 (ie centered for a non-continuous servo).
QuoteAll of the servo drivers in WebbotLib will initialise the servo as being connected and the speed set to 0 (ie centered for a non-continuous servo).Is that good for something like a hexapod, where you don't want the servos initialized at 0?
Quote from: Admin on October 18, 2011, 11:13:00 AMQuoteAll of the servo drivers in WebbotLib will initialise the servo as being connected and the speed set to 0 (ie centered for a non-continuous servo).Is that good for something like a hexapod, where you don't want the servos initialized at 0?Hard one for me to answer!If they aren't initialized at 0 then 'at what?' (you can change the actual values to be non-0 very early on in appInitSoftware)-or if they should be left 'disconnected' by default then everyones projects will need to decide at what point to manually 'connect' the servos in their code. Newbs will complain that their servos do nothing (coz they forgot to 'connect' them).