Author Topic: Gait designer help  (Read 1143 times)

0 Members and 1 Guest are viewing this topic.

Offline totalisTopic starter

  • Full Member
  • ***
  • Posts: 89
  • Helpful? 0
Gait designer help
« on: June 16, 2011, 01:26:57 PM »
This is my code but when i connect The gait designer to the device with this code, the servos do not even move, they are also not being held when i turn them, I am connecting with a usb to UART device.
i am going to update webbotlib and retry but any help would be very useful

Code: [Select]
//#define UART_TX_BUFFER_SIZE 20 //These are defined to reduce the delay
#define UART_RX_BUFFER_SIZE 40 //and data loss in the send and recieve buffers

#include "sys/atmega328P.h" //These are the includes required by the webbotlib library.
#include "a2d.h"
#include "servos.h"
#include "uart.h"
#include "Gait/GaitDesigner.h"
#include "pwm.h"
#include "rprintf.h"

//#define sensorLR ADC_NUMBER_TO_CHANNEL(7)
//#define sensorUD ADC_NUMBER_TO_CHANNEL(6)

SERVO Hip = MAKE_SERVO(TRUE, B1, 1500, 925); //These 4 lines define 2 servos and initialise them
//SERVO Azi = MAKE_SERVO(TRUE, B1, 1500, 925); //they can then be called later on in the code in a very simple way
//SERVO Leg = MAKE_SERVO(TRUE, B2, 1500, 925);

SERVO_LIST servos[] = {&Hip};//, &Azi, &Leg};

ACTUATOR_LIST all[] = {&Hip.actuator};//,&Azi.actuator,&Leg.actuator};


void appInitHardware(void) // In my initialising code

servoPWMInit(&bank1); //This starts the servos moving




TICK_COUNT appInitSoftware(TICK_COUNT loopStart)//This is the main loop that provides timing by delaying by 1 cycle
    return 0;
// This is the main loop, it contains the latest stable release of the
TICK_COUNT appControl(LOOP_COUNT loopCount, TICK_COUNT loopStart)

return 100;

Edit: Fixed :), just shows that you should always get the latest version...

« Last Edit: June 16, 2011, 01:35:45 PM by totalis »


Get Your Ad Here