Debuging problem
Closed this issue · 5 comments
felixNilo commented
I'm testing the servo with the buslinker v2.2 as it said in the owners manual. I'm using an arduino DUE to get comm with the board, but when i debug the program I'm only getting this message from the library:
I tried to get some data from the servo board but it seems that there is no data coming.
The wiring:
White dupont is on 5v and orange is on gnd.
The code that I'm testing:
#include <Arduino.h>
#include <lx16a-servo.h>
LX16ABus servoBus;
LX16AServo servo(&servoBus, 2); //Servo id given by the software Bus Servo Terminal
void setup() {
servoBus.begin(&Serial1,
18,// on TX pin 14
7);// use pin 7 as the TX flag for buffer
Serial.begin(115200);
servoBus.debug(true);
Serial.println("Beginning Servo Example");
}
void loop() {
int divisor =4;
for (int i = 1; i < 1000/divisor; i++) {
long start = millis();
uint16_t angle = i * 24*divisor;
int16_t pos = 0;
pos = servo.pos_read();
Serial.println(pos);
Serial.println(angle);
Serial.println(servo.isCommandOk());
Serial.print("\n\nPosition at " + String(pos) +
servo.isCommandOk() ? "OK" : "\n\nERR!!\n\n");
do {
servo.move_time(angle, 10*divisor);
} while (!servo.isCommandOk());
Serial.print("Move to " + String(angle) +
servo.isCommandOk() ? "OK" : "\n\nERR!!\n\n");
Serial.println("Voltage = " + String(servo.vin()));
Serial.println("Temp = " + String(servo.temp()));
Serial.println("ID = " + String(servo.id_read()));
Serial.println("Motor Mode = " + String(servo.readIsMotorMode()));
long took = millis()-start;
long time = (10*divisor)-took;
if(time>0)
delay(time);
else{
Serial.println("Real Time broken, took: "+String(took));
}
}
servo.move_time(20, 3000);
delay(3000);
}
It has to be mentioned that through the software Bus Servo Terminal I'm able to make work the Servo quite well.
Heelp pleease!!
madhephaestus commented
I never tested using the buslinker, and always used https://www.digikey.com/product-detail/en/texas-instruments/SN74HC126N/296-8221-5-ND instead. Here are detailed instructions for how to wire up the Lewansoul motors using the $0.43 chip linked above. https://github.com/Hephaestus-Arm/HephaestusArm2/blob/0.1.1/electronics.md#2-setting-up-the-board
felixNilo commented
I will try yo buy the chip but it will take long time to have it with me, so for now I need to work the buslinker. Any idea to make it work?
madhephaestus commented
TBH, i dont even own one, so i can t really test. Do you have an o-scope that you can use to look at the traces? If so put one channel on the tx enable, and the other on the tx, while running a command, capture that image and post it. do the same for the RX line. Then do the same for the serial pin on the white header (the conditioned signal to the motors) It might help me understand what its doing differently than the raw line driver chip.
felixNilo commented
ASAP I will get the signals from the outputs channels of the buslinker. By now I'm keeping researching to get this work.
When I get the images i will post it.
Regards.
felixNilo commented
@madhephaestus I have solved the problem using the oficial documentation.
The ino that I used is the following:
`
#define GET_LOW_BYTE(A) (uint8_t)((A))
//Macro function get lower 8 bits of A
#define GET_HIGH_BYTE(A) (uint8_t)((A) >> 8)
//Macro function get higher 8 bits of A
#define BYTE_TO_HW(A, B) ((((uint16_t)(A)) << 8) | (uint8_t)(B))
//put A as higher 8 bits B as lower 8 bits which amalgamated into 16 bits integer
#define LOBOT_SERVO_FRAME_HEADER 0x55
#define LOBOT_SERVO_MOVE_TIME_WRITE 1
#define LOBOT_SERVO_MOVE_TIME_READ 2
#define LOBOT_SERVO_MOVE_TIME_WAIT_WRITE 7
#define LOBOT_SERVO_MOVE_TIME_WAIT_READ 8
#define LOBOT_SERVO_MOVE_START 11
#define LOBOT_SERVO_MOVE_STOP 12
#define LOBOT_SERVO_ID_WRITE 13
#define LOBOT_SERVO_ID_READ 14
#define LOBOT_SERVO_ANGLE_OFFSET_ADJUST 17
#define LOBOT_SERVO_ANGLE_OFFSET_WRITE 18
#define LOBOT_SERVO_ANGLE_OFFSET_READ 19
#define LOBOT_SERVO_ANGLE_LIMIT_WRITE 20
#define LOBOT_SERVO_ANGLE_LIMIT_READ 21
#define LOBOT_SERVO_VIN_LIMIT_WRITE 22
#define LOBOT_SERVO_VIN_LIMIT_READ 23
#define LOBOT_SERVO_TEMP_MAX_LIMIT_WRITE 24
#define LOBOT_SERVO_TEMP_MAX_LIMIT_READ 25
#define LOBOT_SERVO_TEMP_READ 26
#define LOBOT_SERVO_VIN_READ 27
#define LOBOT_SERVO_POS_READ 28
#define LOBOT_SERVO_OR_MOTOR_MODE_WRITE 29
#define LOBOT_SERVO_OR_MOTOR_MODE_READ 30
#define LOBOT_SERVO_LOAD_OR_UNLOAD_WRITE 31
#define LOBOT_SERVO_LOAD_OR_UNLOAD_READ 32
#define LOBOT_SERVO_LED_CTRL_WRITE 33
#define LOBOT_SERVO_LED_CTRL_READ 34
#define LOBOT_SERVO_LED_ERROR_WRITE 35
#define LOBOT_SERVO_LED_ERROR_READ 36
#define LOBOT_DEBUG 1 /*Debug ：print debug value*/
byte LobotCheckSum(byte buf[])
{
byte i;
uint16_t temp = 0;
for (i = 2; i < buf[3] + 2; i++) {
temp += buf[i];
}
temp = ~temp;
i = (byte)temp;
return i;
}
void LobotSerialServoMove(HardwareSerial &SerialX, uint8_t id, int16_t position, uint16_t time)
{
byte buf[10];
if(position < 0)
position = 0;
if(position > 1000)
position = 1000;
buf[0] = buf[1] = LOBOT_SERVO_FRAME_HEADER;
buf[2] = id;
buf[3] = 7;
buf[4] = LOBOT_SERVO_MOVE_TIME_WRITE;
buf[5] = GET_LOW_BYTE(position);
buf[6] = GET_HIGH_BYTE(position);
buf[7] = GET_LOW_BYTE(time);
buf[8] = GET_HIGH_BYTE(time);
buf[9] = LobotCheckSum(buf);
SerialX.write(buf, 10);
}
void LobotSerialServoStopMove(HardwareSerial &SerialX, uint8_t id)
{
byte buf[6];
buf[0] = buf[1] = LOBOT_SERVO_FRAME_HEADER;
buf[2] = id;
buf[3] = 3;
buf[4] = LOBOT_SERVO_MOVE_STOP;
buf[5] = LobotCheckSum(buf);
SerialX.write(buf, 6);
}
void LobotSerialServoSetID(HardwareSerial &SerialX, uint8_t oldID, uint8_t newID)
{
byte buf[7];
buf[0] = buf[1] = LOBOT_SERVO_FRAME_HEADER;
buf[2] = oldID;
buf[3] = 4;
buf[4] = LOBOT_SERVO_ID_WRITE;
buf[5] = newID;
buf[6] = LobotCheckSum(buf);
SerialX.write(buf, 7);
Serial.println("LOBOT SERVO ID WRITE");
int debug_value_i = 0;
for (debug_value_i = 0; debug_value_i < buf[3] + 3; debug_value_i++)
{
Serial.print(buf[debug_value_i], HEX);
Serial.print(":");
}
Serial.println(" ");
}
void LobotSerialServoSetMode(HardwareSerial &SerialX, uint8_t id, uint8_t Mode, int16_t Speed)
{
byte buf[10];
buf[0] = buf[1] = LOBOT_SERVO_FRAME_HEADER;
buf[2] = id;
buf[3] = 7;
buf[4] = LOBOT_SERVO_OR_MOTOR_MODE_WRITE;
buf[5] = Mode;
buf[6] = 0;
buf[7] = GET_LOW_BYTE((uint16_t)Speed);
buf[8] = GET_HIGH_BYTE((uint16_t)Speed);
buf[9] = LobotCheckSum(buf);
Serial.println("LOBOT SERVO Set Mode");
int debug_value_i = 0;
for (debug_value_i = 0; debug_value_i < buf[3] + 3; debug_value_i++)
{
Serial.print(buf[debug_value_i], HEX);
Serial.print(":");
}
Serial.println(" ");
SerialX.write(buf, 10);
}
void LobotSerialServoLoad(HardwareSerial &SerialX, uint8_t id)
{
byte buf[7];
buf[0] = buf[1] = LOBOT_SERVO_FRAME_HEADER;
buf[2] = id;
buf[3] = 4;
buf[4] = LOBOT_SERVO_LOAD_OR_UNLOAD_WRITE;
buf[5] = 1;
buf[6] = LobotCheckSum(buf);
SerialX.write(buf, 7);
Serial.println("LOBOT SERVO LOAD WRITE");
int debug_value_i = 0;
for (debug_value_i = 0; debug_value_i < buf[3] + 3; debug_value_i++)
{
Serial.print(buf[debug_value_i], HEX);
Serial.print(":");
}
Serial.println(" ");
}
void LobotSerialServoUnload(HardwareSerial &SerialX, uint8_t id)
{
byte buf[7];
buf[0] = buf[1] = LOBOT_SERVO_FRAME_HEADER;
buf[2] = id;
buf[3] = 4;
buf[4] = LOBOT_SERVO_LOAD_OR_UNLOAD_WRITE;
buf[5] = 0;
buf[6] = LobotCheckSum(buf);
SerialX.write(buf, 7);
Serial.println("LOBOT SERVO LOAD WRITE");
int debug_value_i = 0;
for (debug_value_i = 0; debug_value_i < buf[3] + 3; debug_value_i++)
{
Serial.print(buf[debug_value_i], HEX);
Serial.print(":");
}
Serial.println(" ");
}
int LobotSerialServoReceiveHandle(HardwareSerial &SerialX, byte *ret)
{
bool frameStarted = false;
bool receiveFinished = false;
byte frameCount = 0;
byte dataCount = 0;
byte dataLength = 2;
byte rxBuf;
byte recvBuf[32];
byte i;
while (SerialX.available()) {
rxBuf = SerialX.read();
delayMicroseconds(100);
if (!frameStarted) {
if (rxBuf == LOBOT_SERVO_FRAME_HEADER) {
frameCount++;
if (frameCount == 2) {
frameCount = 0;
frameStarted = true;
dataCount = 1;
}
}
else {
frameStarted = false;
dataCount = 0;
frameCount = 0;
}
}
if (frameStarted) {
recvBuf[dataCount] = (uint8_t)rxBuf;
if (dataCount == 3) {
dataLength = recvBuf[dataCount];
if (dataLength < 3 || dataCount > 7) {
dataLength = 2;
frameStarted = false;
}
}
dataCount++;
if (dataCount == dataLength + 3) {
Serial.print("RECEIVE DATA:");
for (i = 0; i < dataCount; i++) {
Serial.print(recvBuf[i], HEX);
Serial.print(":");
}
Serial.println(" ");
if (LobotCheckSum(recvBuf) == recvBuf[dataCount - 1]) {
Serial.println("Check SUM OK!!");
Serial.println("");
frameStarted = false;
memcpy(ret, recvBuf + 4, dataLength);
return 1;
}
return -1;
}
}
}
}
int LobotSerialServoReadPosition(HardwareSerial &SerialX, uint8_t id)
{
int count = 10000;
int ret;
byte buf[6];
buf[0] = buf[1] = LOBOT_SERVO_FRAME_HEADER;
buf[2] = id;
buf[3] = 3;
buf[4] = LOBOT_SERVO_POS_READ;
buf[5] = LobotCheckSum(buf);
Serial.println("LOBOT SERVO Pos READ");
int debug_value_i = 0;
for (debug_value_i = 0; debug_value_i < buf[3] + 3; debug_value_i++)
{
Serial.print(buf[debug_value_i], HEX);
Serial.print(":");
}
Serial.println(" ");
while (SerialX.available())
SerialX.read();
SerialX.write(buf, 6);
while (!SerialX.available()) {
count -= 1;
if (count < 0)
return -2048;
}
if (LobotSerialServoReceiveHandle(SerialX, buf) > 0)
ret = (int16_t)BYTE_TO_HW(buf[2], buf[1]);
else
ret = -2048;
Serial.println(ret);
return ret;
}
int LobotSerialServoReadVin(HardwareSerial &SerialX, uint8_t id)
{
int count = 10000;
int ret;
byte buf[6];
buf[0] = buf[1] = LOBOT_SERVO_FRAME_HEADER;
buf[2] = id;
buf[3] = 3;
buf[4] = LOBOT_SERVO_VIN_READ;
buf[5] = LobotCheckSum(buf);
Serial.println("LOBOT SERVO VIN READ");
int debug_value_i = 0;
for (debug_value_i = 0; debug_value_i < buf[3] + 3; debug_value_i++)
{
Serial.print(buf[debug_value_i], HEX);
Serial.print(":");
}
Serial.println(" ");
while (SerialX.available())
SerialX.read();
SerialX.write(buf, 6);
while (!SerialX.available()) {
count -= 1;
if (count < 0)
return -2048;
}
if (LobotSerialServoReceiveHandle(SerialX, buf) > 0)
ret = (int16_t)BYTE_TO_HW(buf[2], buf[1]);
else
ret = -2049;
Serial.println(ret);
return ret;
}
void setup() {
// put your setup code here, to run once:
Serial.begin(9600);
Serial.println("Starting servo");
Serial1.begin(115200);
delay(1000);
}
#define ID2 2
void loop() {
// put your main code here, to run repeatedly:
LobotSerialServoMove(Serial1, ID2, 500, 500);
delay(1000);
LobotSerialServoReadPosition(Serial1, ID2);
delay(1000);
LobotSerialServoMove(Serial1, ID2, 700, 500);
delay(1000);
LobotSerialServoReadPosition(Serial1, ID2);
delay(1000);
}
`