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dynamixel wheel_mode

asked 2013-04-03 03:00:09 -0600

rossi gravatar image

hello everybody, i am new in ros and need to control 2 dynamixels (mx28r and mx106r). in the standard_mode the actuators rotate 360°. i read that in the wheel_mode its possible to use the dynamixels as normal motors. i already install the packages, but i cant find any information about it. do anybody know how i can switch the cases. thanks for the help.

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answered 2014-01-13 02:32:25 -0600

edwin.babainas gravatar image

updated 2015-04-29 04:03:25 -0600

130s gravatar image

hi there ! ...

you can set dynamixel motor in wheel mode with its manager software ... then there is a problem in ROS dynamixel package , you cant change rotation direction with set_speed service ! .

first download dynamixel stack packages from git , then use the function like this ...

def set_speed(self, speed):
        mcv = (self.motor_id, speed)
        self.dxl_io.set_multi_speed([mcv])

from joint_position_controller.py .

be aware change the speed service type from float64 to int32 , and then new range is

0 - 1023 CW
1024 - 2048 CCW

also the input is not radian / s speed ! , its dynamixel raw input then .

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answered 2014-04-14 05:37:31 -0600

TSLA gravatar image

Hello, can you give a tutorial to install correctly the update of the dynamixel controller package. Can you also explain very precisely how to use the new fonction of the update, i'm a big noob in ROS and Linux, Thanks !

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Asked: 2013-04-03 03:00:09 -0600

Seen: 887 times

Last updated: Apr 29 '15