NyBorad V0_2
WriteInstict.ino was uploaded as V0_1 (my mystake) but everything passed well
- Instincts are loaded
- MPU is calibrated
- Joints are callibrated (bcs the wiring schema is for V0_1 was used) and saved
I took out batteries and left my cat for the night.
On a next day I wrote done Nybble.ino (still as V0_1) but IR didnt work
So I again took out batteries and left my cat for the night at a rest postion.
On a 3rd day I put a full charged non-protected batteries and power on my cat
- A non-stop buzz come from the board after power-on
- The blue led and the green led are constantly on
- if FTDI is pluged (yes, GND to GND) into the board before power on - the PWD and REN leds are constantly on
I see /dev/ttyUSB0 under my Ubuntu, port speed 57600 but cant upload any sketch nor any bootloader now
avrdude: stk500_recv(): programmer is not responding
avrdude: stk500_getsync() attempt 1 of 10: not in sync: resp=0x00
avrdude: stk500_recv(): programmer is not responding
avrdude: stk500_getsync() attempt 2 of 10: not in sync: resp=0x00
avrdude: stk500_recv(): programmer is not responding
avrdude: stk500_getsync() attempt 3 of 10: not in sync: resp=0x00
avrdude: stk500_recv(): programmer is not responding
avrdude: stk500_getsync() attempt 4 of 10: not in sync: resp=0x00
avrdude: stk500_recv(): programmer is not responding
avrdude: stk500_getsync() attempt 5 of 10: not in sync: resp=0x00
avrdude: stk500_recv(): programmer is not responding
avrdude: stk500_getsync() attempt 6 of 10: not in sync: resp=0x00
avrdude: stk500_recv(): programmer is not responding
avrdude: stk500_getsync() attempt 7 of 10: not in sync: resp=0x00
avrdude: stk500_recv(): programmer is not responding
avrdude: stk500_getsync() attempt 8 of 10: not in sync: resp=0x00
avrdude: stk500_recv(): programmer is not responding
avrdude: stk500_getsync() attempt 9 of 10: not in sync: resp=0x00
avrdude: stk500_recv(): programmer is not responding
avrdude: stk500_getsync() attempt 10 of 10: not in sync: resp=0x00
when you upload, is the battery still powering the board? The meowing and the numbers(287, 265...) is the low voltage alarm.
I am making a Nybble with V0_2. Calibration went well. WriteInstinct.ino uploaded successfully, and I could control Nybble by Arduino IDE. It could trot and crawl and sit.
Then I uploaded the Nybble.ino. Arduino IDE claimed it uploaded successfully, and then Nybble started meowing repeatedly. It only stopped when I pulled the upload chip off.
The jerky motion relates to a lot of factors. Inertia of leg, sensor noise and motion planning. The potentiometer is bypassed when the jumper connects battery directly.
Hi Rongzhong,
Thank you for the feedback. Yes it made all the difference. All basic movements are now working, although somewhat jerky in the movements.
I have the servo voltage set to 5.5V. Will I get a more smooth movement with a higher voltage.
Best regards D L
Hi All
Following on from the discussions above on the difference between servo usage in Nyboard_V02, I have re-connected all servos as recommended above. Updated WrtieInstincts.ino and entered ‘Y’ for all the prompts. I re-calibrated, save the calibration and verified it on a second run through.
I uploaded Nybbe.ino. The initial load servo movements finished and Nybble meowed. -- All good!. As soon as I attempt any operation, I get unexpected results:
unexpected - Half way though the operation KFR and KHL will rotate fully and lock up
- Head Pad will spin through 180 degrees
- other variations of unexpected servo movements.
- Nybble becomes unresponsive
I re-upload WrtieInstincts.ino and the calibration looks ok.
Looking for the any suggestion that can point me where to look.
Thanks and regards
D L
The issues is successfully solved
FTDI issue - it was because the shipped FTDI died. As I wrote before - after power on the RX led don't blink shortly but is constantly on.
I have bought a new one named FT232 (microusb port) and I can upload sketchs again :)
"zzzz" issue - I think my last uploaded sketch crashed for some reason (Li wrote about it early)
After uploading TestLed.ino all is fine - my cat is a Cat again, not a Bee :)
Tomorrow I will upload WrtieInstincts.ino again for recalibration after the crash.
I'm a complete newbie to robotics, but Nybble was to be my introduction. I've assembled Nybble but I can't get Arduino IDE to recognize the 20Mhz processor. It recognizes the other Arduino Pro or Pro mini processors in the avr/bootloaders/atmega folder but not the ATmega328_20MHz.hex file for Nybble. I've confirmed that the boards.txt file in the avr folder is the one being used, but I can' figure out why the 20MHz processor isn't being recognized by Arduino. Any suggestion?
The physical connection for two versions are all the same. What changed are the mapping from the PWM number to joint index. The mapping is handled automatically in OpenCat.h by changing the board version definition in Instinct.h.
I'm using your drawing method to show the corrected connections.
Thank you Rongzhong,
I uploaded WriteInstinct.ino, selected Y to all options resetting the Joint calibration, Updating Instincts and re-calibrating the MPU. I then entered c to enter callibrate mode. The nybble set the servo to calibrate position (and were out as expected).
Then staring with the HEAD PAN connected to servo 0; I entered c0,10 to see where it moves to; to my surprise the FL Knee moved. It seems the servo mapping is different?.
Any suggestions on what to do next?
Best regards
DL