Erratic motion at end of an "Instinct" movement
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
#define POSTURE_WALKING_FACTOR 0.5This line makes the adjustment during walking smaller in static postures. You can replace it as 1, but it will affect the stability of walking. There are other parameters related to this coefficient and will take hours to find a proper value.
LARGE_PITCH defines the large pitch angle that the robot considers itself as flipped or interrupted, then trigger some recovering motions.