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Is it possible to change PID parameters of 6 motors silmutaneously(in a single launch file)?)

asked 2018-02-25 20:54:55 -0500

ryan gravatar image

Hi everyone, i'm trying to control a 6 dof robot arms using 6 dynamixel motors(MX series). The only way i know to tune PID parameters is to launch dynamixel_workbench_single_manager. However, i may only tune the parameters one by another and cause a time-waste. So i'm searching a way to tune multi-motors parameters. Is it possible or where can i find the source to realize this.

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Can you be more specific ? Like do you want to share the same configuration with all your motors ? It looks like you have to create a launch file to define all your parameters.

Delb gravatar imageDelb ( 2018-02-26 02:39:40 -0500 )edit

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answered 2018-02-26 05:15:06 -0500

Darby Lim gravatar image

Hello :)

Thank you for your inquiry about dynamixel_workbench.

You can change parameters of multi-dynamixels using SyncWrite function.

If you look at line 56 in torque control example, 'Goal_Current' parameter are added to syncwrite handler. You can change it as 'P_Gain' or 'D_Gain' and write gain to the dynamixels by syncWrite function simultaneously.(line 152 in same example)

Best regards Darby

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Well this launch isn't doing what you want ?

Delb gravatar imageDelb ( 2018-02-26 06:25:31 -0500 )edit

Thanks a lot :)) However, i have just encountered another error. When i launch the torque_control file, after the model and id popped out, the process died immediately. How come?? :(

ryan gravatar imageryan ( 2018-03-01 07:47:45 -0500 )edit

What are you launching exactly ? torque_control.cpp or torque_control.launch ?

Delb gravatar imageDelb ( 2018-03-02 02:24:30 -0500 )edit

torque_control.launch exactly.

ryan gravatar imageryan ( 2018-03-02 05:48:12 -0500 )edit

Well since it's just a simple launcher for the torque node it means that you might have a problem with your parameters, check with ls /dev/input if your devices are well connected.

Delb gravatar imageDelb ( 2018-03-02 06:33:18 -0500 )edit

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Asked: 2018-02-25 20:54:55 -0500

Seen: 108 times

Last updated: Feb 26 '18