Difference between revisions of "Minibot code"
(Created page with "for the AX-12a servos the part that lets you feel haptic feedback is x=actuator._get_current_load() in python where actuator is servo where you are getting the torque from and...") |
|||
| (2 intermediate revisions by the same user not shown) | |||
| Line 1: | Line 1: | ||
for the AX-12a servos the part that lets you feel haptic feedback is | for the AX-12a servos the part that lets you feel haptic feedback is | ||
| + | |||
x=actuator._get_current_load() in python where actuator is servo where you are getting the torque from and | x=actuator._get_current_load() in python where actuator is servo where you are getting the torque from and | ||
actuator._set_torque_limit(x) where this actuator is the new one that you are trying to feel the feedback on if you look at the data sheet [http://support.robotis.com/en/product/dynamixel/ax_series/dxl_ax_actuator.htm here] it shows you a list for the servos | actuator._set_torque_limit(x) where this actuator is the new one that you are trying to feel the feedback on if you look at the data sheet [http://support.robotis.com/en/product/dynamixel/ax_series/dxl_ax_actuator.htm here] it shows you a list for the servos | ||
| + | |||
Area Address(Hexadecimal) Name Description Access Initial Value(Hexadecimal) | Area Address(Hexadecimal) Name Description Access Initial Value(Hexadecimal) | ||
the chart with the titles above is the one I am taking about. | the chart with the titles above is the one I am taking about. | ||
| + | |||
the _set_torque_limit is the 34 torque limit you are setting the torque limit low because that is the minimum torque you can feel on the servo. | the _set_torque_limit is the 34 torque limit you are setting the torque limit low because that is the minimum torque you can feel on the servo. | ||
| + | |||
the _get_current_load goes with the 40 which is current load this tells you what torque the motor is feeling. | the _get_current_load goes with the 40 which is current load this tells you what torque the motor is feeling. | ||
this is also very easy to do with C or C++ there is a preset up just like there is with [https://github.com/thedancomplex/pydynamixel python] | this is also very easy to do with C or C++ there is a preset up just like there is with [https://github.com/thedancomplex/pydynamixel python] | ||
Latest revision as of 19:31, 20 November 2014
for the AX-12a servos the part that lets you feel haptic feedback is
x=actuator._get_current_load() in python where actuator is servo where you are getting the torque from and actuator._set_torque_limit(x) where this actuator is the new one that you are trying to feel the feedback on if you look at the data sheet here it shows you a list for the servos
Area Address(Hexadecimal) Name Description Access Initial Value(Hexadecimal) the chart with the titles above is the one I am taking about.
the _set_torque_limit is the 34 torque limit you are setting the torque limit low because that is the minimum torque you can feel on the servo.
the _get_current_load goes with the 40 which is current load this tells you what torque the motor is feeling.
this is also very easy to do with C or C++ there is a preset up just like there is with python
