PENGUIN ROBOT Motion Control Startup - the Code
Title: Penguin Robot Motion Control Startup
Code Name: penguin_motion_startup.bpx
Purpose: Place code at beginning of motion programs
to check for servo calibration
This code goes with the Penguin Robot Utilities Program Suite.
It's helpful code to place at the beginning of motion control
programs to verify servo calibration. It safely keeps Penguins
servo motors from moving out of range due to no calibration.
humanoido
Post Edited (humanoido) : 12/15/2007 11:22:41 AM GMT
Code Name: penguin_motion_startup.bpx
Purpose: Place code at beginning of motion programs
to check for servo calibration
This code goes with the Penguin Robot Utilities Program Suite.
It's helpful code to place at the beginning of motion control
programs to verify servo calibration. It safely keeps Penguins
servo motors from moving out of range due to no calibration.
humanoido
' This is the startup subroutine for motion control programs. ' It first queries the operator, asking if the servos are calibrated, ' then performs a confirming safety limit check on stored numbers in ' memory. If values are out of range, the name of the calibration ' program to run is specified and the program stops. Checks are made ' at memory location 21 page 7. The program is compatible with ' the following calibration programs: ' ' penguin_automatic_servo_calibrator.bpx ' Penguin-ServoCalibration.bpx ' ' and is compatible with the following servo calibration checker: ' ' penguin_calibration_companion.bpx ' ' Addition programs that may be helpful are: ' ' penguin_tilt_and_stride_reader.bpx ' penguin_memory_reader_writer.bpx ' penguin_memory_reader.bpx ' penguin_servo_loop_test.bpx ' penguin_raw_positioner.bpx ' ' The safe range is set as noted in the comments.
Post Edited (humanoido) : 12/15/2007 11:22:41 AM GMT
