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use signed int for the config value of servo #7

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Merged
merged 3 commits into from
Dec 8, 2024
Merged

use signed int for the config value of servo #7

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d7c87ac
use signed int for the config value of servo
starf555 Nov 23, 2024
9833d6f
"Change calcurate the offset for RT version Dynamixel"
starf555 Nov 29, 2024
45e0569
Merge branch 'main' into RT-Version-Test
mongonta0716 Dec 8, 2024
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9 changes: 7 additions & 2 deletions src/Stackchan_servo.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -72,7 +72,7 @@ void StackchanSERVO::attachServos() {
_dxl.writeControlTableItem(DRIVE_MODE, AXIS_X + 1, 4); // Velocityのパラメータを移動時間(msec)で指定するモードに変更
_dxl.writeControlTableItem(DRIVE_MODE, AXIS_Y + 1, 4); // Velocityのパラメータを移動時間(msec)で指定するモードに変更
_dxl.torqueOn(AXIS_X + 1);
delay(10); // ここでWaitを入れないと、Y(tilt)サーボが動かない場合がある。
delay(100); // ここでWaitを入れないと、Y(tilt)サーボが動かない場合がある。
_dxl.torqueOn(AXIS_Y + 1);
delay(100);
_dxl.writeControlTableItem(PROFILE_VELOCITY, AXIS_X + 1, 1000);
Expand Down Expand Up @@ -103,13 +103,18 @@ void StackchanSERVO::attachServos() {
_dxl.writeControlTableItem(PROFILE_VELOCITY, AXIS_Y + 1, 1000);
delay(100);

M5_LOGI("CurrentPosition X:%f, Y:%f", _dxl.getPresentPosition(AXIS_X + 1), _dxl.getPresentPosition(AXIS_Y + 1));

if (_dxl.getPresentPosition(AXIS_X + 1) > 4096) {
_init_param.servo[AXIS_X].offset = _init_param.servo[AXIS_X].offset + 360;
}
if (_dxl.getPresentPosition(AXIS_Y + 1) > 4096) {
if ((_dxl.getPresentPosition(AXIS_Y + 1)-convertDYNIXELXL330_RT(_init_param.servo[AXIS_Y].lower_limit + _init_param.servo[AXIS_Y].offset)) > convertDYNIXELXL330_RT(270)) {
_init_param.servo[AXIS_Y].offset = _init_param.servo[AXIS_Y].offset + 360;
}
//_init_param.servo[AXIS_Y].offset = 360;

M5_LOGI("Current Offset X:%d, Y:%d", _init_param.servo[AXIS_X].offset, _init_param.servo[AXIS_Y].offset);

_dxl.setGoalPosition(AXIS_X + 1, convertDYNIXELXL330_RT(_init_param.servo[AXIS_X].start_degree + _init_param.servo[AXIS_X].offset));
_dxl.setGoalPosition(AXIS_Y + 1, convertDYNIXELXL330_RT(_init_param.servo[AXIS_Y].start_degree + _init_param.servo[AXIS_Y].offset));
//_dxl.torqueOff(AXIS_X + 1);
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4 changes: 2 additions & 2 deletions src/Stackchan_servo.h
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Expand Up @@ -44,8 +44,8 @@ typedef struct ServoParam {
int16_t offset; // オフセット（90°からの+-）
int16_t degree; // 角度
uint32_t millis_for_move; // 移動時間(msec)
uint16_t lower_limit; // サーボ角度の下限
uint16_t upper_limit; // サーボ角度の上限
int16_t lower_limit; // サーボ角度の下限
int16_t upper_limit; // サーボ角度の上限
} servo_param_s;


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8 changes: 4 additions & 4 deletions src/Stackchan_system_config.h
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Expand Up @@ -41,10 +41,10 @@ typedef struct SecretItems {

typedef struct ServoInitialParam {
uint8_t pin;
uint16_t offset;
uint16_t upper_limit;
uint16_t lower_limit;
uint16_t start_degree;
int16_t offset;
int16_t upper_limit;
int16_t lower_limit;
int16_t start_degree;
} servo_initial_param_s;

enum AvatarMode {
Expand Down