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Been reading through the documentation and I have to say WOW! Great job. This looks like an awesome bit of lib. Very feature rich.
I wanted to ask if you would like feedback on the documentation side of things in this thread, as in completeness, spelling mistakes and all of that?
I'm keen to get my biped up and running with your libs (once I work out how to get my bloody rprintf function working???) Start an rprintf with WebbotLib thread if you need help.
so I was wondering at the chances of getting some special functions written up? Initially I was thinking some basic stuff like getting a bunch of servos to move to position all finishing at the same time,
but eventually I envision something more hardcore, maybe involving some inverse kinematics. Should I maybe start a new thread on it?
I have a question about your software PWM. if I am controlling 18 servos with software, how much CPU time am I using/wasting on this operation? On average how much CPU would you say it takes to software PWM a servo? I'm wondering if I'm better off buying harware to deal with servos.
This is easy enough to do. Hint: look at the interpolate function.
The easiest way to achieve this pure computational stuff is to get it going as a standalone piece of code and once completed, if you want to donate it to the lib, then I can add your code in and give credit. Yep - start a thread if you need to.
It would take me a while to work that out and it would depend on your clock speed (16MHz Axon?). Certainly you would need to experiment with splitting the servos into different banks (timers) to get the best result as one bank (timer) would not be able to send pulses to all of the servos every 20ms. It also depends on what other hardware (especially timers) you need for other things.
Ok how about a quick guess? Are we talking <10% all up? or are we talking something more significant(>40%)? I'm guessing I would use 4 timers, one for each limb.
I need some noob help getting the webbotlib to print out the UART. I'm trying the first example from the documentation folder. Can anyone confirm that using an Axon and this exact example they get stuff printing on the UART? I seem to be missing something basic. I don't even get gibberish!
The 'documentation folder' - do you mean Admins own examples or something in the WebbotLib manual?
Its also almonst impossible for me to write code for a sensor unless someone actually has one and they are willing to be guinea pigs for my code and they can commit the time and effort into helping. ie for every change I make I have to send you a hex file to test and let me know the result. Obviously I don't want to splash out £173 for a device that I have no use for once its up and running.
will support Admins firmware for the device but not necessarily any one elses for now. But since all of the interfaces work using UART then it would be quite easy to write your own sensor reader to match the firmware you have installed on the Razor.
Webbot, when do you hope to have the updated WebbotavrcLib with support for Admin's firmware available?
int whatever_you_want = random_number(1);
int whatever_you_want = random_number(2);
did the function to return the # of bytes in the uart buffer get added in?I didn't see it in the pdf.
Hey webbot, what are the chances of getting support for Pololu servo controllers added to the webbotlib? Specifically Mini Maestro 24 channel. I'd be more than willing to test the stuff for you.Maybe even better would be general support for the Compact, Pololu and SSC protocols.
The Pololu Mini Maestro supports this protocol with no special settings and so I'll be sending you an interim release soon so you can test it.
Quote from: Webbot on July 04, 2010, 06:15:13 PMThe Pololu Mini Maestro supports this protocol with no special settings and so I'll be sending you an interim release soon so you can test it.Fantastic! Thanks mate. I'll be waiting for you PMI'm keen to get one of the other protocols working with the webbotlib. They offer more features with the servo controller than the SSC. I understand that you have a ton of things going so if there is any help I can provide to make it happen let me know
Your “razor_9dof_board.c” has a include for “hardware.h”. Is this the “hardware.h” generated by Project designer? When complied, the hex file to be uploaded to the Razor using the Arduino bootloader.I could not find a include for “axon_processing_code.h”. Has “axon_processing_code.h” and the “c” file that calls it been superseded by Webbot’s “razor.c”?