Hi
I am in the process of adding some Raspberry PI controlled automation. The automation is a python program running on the RP and uses the pyserial interface from the RP to the Nybble_v0.2. I have observed Nybble performing a 'jerky' erratic motion at the end of a "Instinct" movement. The file attached is a video of the following motions (with a three second fixed gap between each motion):
Balance
Stretch
Balance
Pee
Balance
Sit
Hi
Meow
Sit
Rest
The video displays two types of irregularities:
- At the end of most "Instinct" movements there is a significant jerky movement of the servos. From using an oscilloscope I have confirmed the servos are being instructed to move to a new setting (a change in the duty cycle) after the instinct appears to be finished.
- Steps 7 does not complete and step 9 appears to be ignored all together.
I am looking to see if anyone else is observing these jerky motions at the end of an instinct movement and any clues as to why these may be occurring.
Best regards
D L
Hi Rongzhong,
I am doing a test and have commented out the #define GYRO in OpenCat.h, disabling the use of the MPU6050.
So far all abnormal jerking is gone, include quite aggressive movements in some Postures. In many ways this is a superior execution for the movements I need Nybble to be able to complete (I won't be asking the robot to walk up stairs of any significant incline movements in the short term).
Two questions.
- Now that the MPU is disabled, the walking, trot and crawl gaits are quite fast. Is there a location to define these to slow down.
- Is there any plan to re-write the GYRO routines to address the post transform movement jerkiness.
Overall I like your work. Well done. I do recommend though, as a general comment, if you are considering a faster CPU, then a re-write/clean-up of the code is possibly in order, especially to remove compiler directives intermixed within the code lines. These, and the use of interrupt processing mixed in with the general procedural nature in the code, makes the code difficult to read and troubleshoot.
Once again, well done so far. I hope the project succeeds to your best wishes.
Best regards
D L