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projets:poppy:ergot_robot
Différences
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projets:poppy:ergot_robot [2015/04/11 16:26] mac projets:ergot_robot renamed to projets:poppy:ergot_robot (déplacé dans méta projet "poppy") |
projets:poppy:ergot_robot [2015/04/13 09:30] (Version actuelle) bumblebee |
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| Ligne 15: | Ligne 15: | ||
| + | ===== Liens docs ===== | ||
| + | * Documentation dynamixel low-level (détection des moteurs, ... ) : https://poppy-project.github.io/pypot/dynamixel.html#opening-closing-a-communication-port | ||
| ===== Truc et astuce sur les ergots robots du carrefour numérique===== | ===== Truc et astuce sur les ergots robots du carrefour numérique===== | ||
| + | |||
| + | configuration pour la mise à zéro des moteurs de l'ergot robot "n°1" (à mettre dans ''/usr/local/lib/python2.7/dist-packages/poppy_ergo/configuration/'' ): | ||
| + | |||
| + | |||
| + | ==== fichier json de paramétrage de l'ergot robot "n°1" ==== | ||
| + | |||
| + | <code json poppy_ergo.json> | ||
| + | { | ||
| + | "controllers": { | ||
| + | "my_dxl_controller": { | ||
| + | "sync_read": false, | ||
| + | "attached_motors": [ | ||
| + | "base", | ||
| + | "tip" | ||
| + | ], | ||
| + | "port": "auto" | ||
| + | } | ||
| + | }, | ||
| + | "motorgroups": { | ||
| + | "base": [ | ||
| + | "m1", | ||
| + | "m2", | ||
| + | "m3" | ||
| + | ], | ||
| + | "tip": [ | ||
| + | "m4", | ||
| + | "m5", | ||
| + | "m6" | ||
| + | ] | ||
| + | }, | ||
| + | "motors": { | ||
| + | "m1": { | ||
| + | "offset": -20.0, | ||
| + | "type": "MX-28", | ||
| + | "id": 11, | ||
| + | "angle_limit": [ | ||
| + | -180.0, | ||
| + | 180.0 | ||
| + | ], | ||
| + | "orientation": "direct" | ||
| + | }, | ||
| + | "m2": { | ||
| + | "offset": 0.0, | ||
| + | "type": "MX-28", | ||
| + | "id": 12, | ||
| + | "angle_limit": [ | ||
| + | -90.0, | ||
| + | 90.0 | ||
| + | ], | ||
| + | "orientation": "indirect" | ||
| + | }, | ||
| + | "m3": { | ||
| + | "offset": 0.0, | ||
| + | "type": "MX-28", | ||
| + | "id": 13, | ||
| + | "angle_limit": [ | ||
| + | -90.0, | ||
| + | 90.0 | ||
| + | ], | ||
| + | "orientation": "indirect" | ||
| + | }, | ||
| + | "m4": { | ||
| + | "offset": 0.0, | ||
| + | "type": "MX-28", | ||
| + | "id": 14, | ||
| + | "angle_limit": [ | ||
| + | -180.0, | ||
| + | 180.0 | ||
| + | ], | ||
| + | "orientation": "direct" | ||
| + | }, | ||
| + | "m5": { | ||
| + | "offset": 0.0, | ||
| + | "type": "MX-28", | ||
| + | "id": 15, | ||
| + | "angle_limit": [ | ||
| + | -90.0, | ||
| + | 90.0 | ||
| + | ], | ||
| + | "orientation": "indirect" | ||
| + | }, | ||
| + | "m6": { | ||
| + | "offset": 20.0, | ||
| + | "type": "MX-28", | ||
| + | "id": 16, | ||
| + | "angle_limit": [ | ||
| + | -90.0, | ||
| + | 90.0 | ||
| + | ], | ||
| + | "orientation": "indirect" | ||
| + | } | ||
| + | } | ||
| + | } | ||
| + | </code> | ||
| + | |||
projets/poppy/ergot_robot.1428762391.txt.gz · Dernière modification: 2015/04/11 16:26 par mac
Outils de la Page
Universcience -
Carrefour numérique² -
@CarrNum -
Cité des sciences et de l'industrie -
30 avenue Corentin Cariou 75019 Paris
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