Ergot robot

Fiche projet

Réalisé par : Mac
Licence : cc-by-sa

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

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"

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"
    }
  }
}