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[Spinal][Dynamixel] create a interface to control dynamixel with Spinal #594

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wants to merge 32 commits into from
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[Spinal][Dynamixel] create a interface to control dynamixel with Spinal #594

wants to merge 32 commits into from

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sugihara-16
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What is this

Workaround to support direct Dynamixel control from Spinal.

Details

The followings are supported:

  • Sending and receiving commands via rostopic (e.g. send goal position 2700 to ID 1 servo)
    $ rostopic pub -1 /servo/target_states spinal/ServoControlCmd "index : [1] angles: [2700]"
  • Setting servo configuration via rosservice (e.g. set gains p = 2500, d = 500, i = 10000 to ID 1 servo)
    $ rosserive call /direct_servo_config spinal/SetDirectServoConfig “command: 2 data: [1, 2500, 500, 10000]”

TODO

  • make a common servo interface that works in both Spinal and Neuron
  • implimente gui configurator for direct control servos
  • separate the current servo interface into TX/RX-related part and the other

sugihara-16 and others added 30 commits March 1, 2024 18:03
@sugihara-16
[Spinal][Dynamixel] transplanted dynamixel interface to spinal
05fd4ca
@sugihara-16
[Spinal][Encoder] modified encorder interface imitating neuron one
af3f910
@sugihara-16
[Spinal] change usart3 bardrate as 1Mbps
e3094c5
@sugihara-16
[Spinal][Servo][WIP] create a new universal interface to control servos
3c8cad0
@sugihara-16
[Spinal][Servo] fix complile erors in servo interface (stil not work)
fc6d98c
@sugihara-16
[Spinal][Servo] add implimentation to call servo interface from main.cpp
d1b0d79
@sugihara-16
[Spinal][Servo][WIP] modifed some details and add MPU setting
8bec34e
@sugihara-16
[Spinal][Servo] add new task to treat servos directly
7e33926
@sugihara-16
[Spinal][Servo] change servo flag name
2521f92
@sugihara-16
[Spinal][Servo][WIP] workaround send command to dynamixel
91d1380
@sugihara-16
[Spinal][Servo] create a new service to set configuration of direct c…
756c41a 
…ontrol servos
@sugihara-16
[Spinal][Servo] workaround to set configuration of direct servos to f…
a499730 
…lashmemory
@sugihara-16
[Spinal][Servo] add interface to set target angle directly
bfcabad
@sugihara-16
[Spinal][Servo] fix some bugs
0adcf56
@sugihara-16
[Spinal][Servo] change the priority of servotask from idle to realtime
2835e21
@sugihara-16
[Spinal][Servo] fixed bug in a function of toruqe enabling
4afb83a
@sugihara-16
[Spinal][Dynamixel] limit the situation in which offset and torque pa…
a6d1bfa 
…rameter can be set to only during torqe off state.
@sugihara-16
[Spinal][Dynamixel] modified maximum servo number from 4 to 8.
0f0cc83
@sugihara-16
[Spinal][servo] Create README for servo interface
7c147cb
@sugihara-16
[Spinal][Servo] resize the servo message as same as maximum servo num.
ae4e197
@sugihara-16
[ServoBridge] workaroud to use servo profiles in spinal firmware.
2fb5a3a
@sugihara-16
[Spinal][Servo] use servo index to indentify servo
8541587
@sugihara-16
[Spinal][Servo] workaround to use rqt to monitor and setup direct ser…
d787196 
…vos.
[Spinal][Servo] debug around reading servo from rqt
77dfc1a
@sugihara-16
Merge pull request #6 from koutarou-kaneko/PR/Spinal/dynamixel
d4567ec 
[Spinal][Servo] debug around reading servo from rqt
[Spinal][Servo] debug around boad configurator
f14dc52
@sugihara-16
Merge pull request #7 from HisaakiIida/PR/Spinal/dynamixel
70b11db
@Li-Jinjie
[Spinal][Dynamixel] change the Dynamixel reading procedure from send-…
30605b6 
…receive to receive-send. Not working.
@Li-Jinjie
[Spinal][Dynamixel] make the send freq. the same as INST_GET_PRESENT_POS
3c7857f
@Li-Jinjie
[Spinal][Dynamixel] refactor code to support quick reading for Dynami…
54ce3fc 
…xel. The current freq. for servo is 100hz, and the current freq. for dshot is 125hz. Tested on real machine.
@sugihara-16 sugihara-16 mentioned this pull request Oct 29, 2024
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@sugihara-16
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This PR itself cannot be compatible with the current master system, so it is integrated into #630 .

@sugihara-16 sugihara-16 closed this Nov 4, 2024
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2 participants
@sugihara-16 @Li-Jinjie