smiller29
Resolved by Athena AI!
DJ or anyone else, I have a few questions based on my limited knowledge of ARC. The one thing I have learned about ARC there are many places where you can add scripts and many ways to make things work. With that said I am working on a Biped robot project and at a point I want to work with Auto Position (Gait) skill and the MPU6050 skill. I understand the concept of how both of these skills work so let me just jump to problem/question.
Problem: I want to add stability logic within the movements of the auto positions and also when no Auto Position frames or actions are actively moving.
So I think when not moving AutopositionStatus = 0 I can just use a looping script in the MPU6050 skill to look for conditions that will trigger Auto Position frames or actions. But when using the Auto Position skill I need to add scripts within the:
Auto Position Start Script This script will be run before a frame or action is executed.
Auto Position End Script This script will be run after all the frames or actions in the queue have been executed.
So one question is should I stop the MPU6050 looping script in the Auto Position Start Script and start it backup in the Auto Position End Script? and at the same time add login stability logic in the end script before turning back on the MPU6050 script?
I am just looking for the best place my code within ARC so if anyone has done this and can provide more insight please let me know.
The customer, smiller29, is working on a biped robot project and wants to add stability logic within the movements of the auto positions and also when no Auto Position frames or actions are actively moving. They are considering using the MPU6050 skill to control the hips and ankles for side-to-side stability. DJ suggested modifying the offset of the hip servos by an imu script to maintain an upright position. The customer asked if they should stop the MPU6050 looping script in the Auto Position Start Script and start it back up in the Auto Position End Script. DJ recommended against using the Auto Position Start and Stop Scripts and instead suggested having a script running at all times in the background in another control. DJ also added the offset function in the next build of ARC. The customer also asked if they could add offsets to the MPU skill to calibrate it. DJ was not familiar with what the customer was using and asked for clarification. The customer also shared a picture of the legs for their project and mentioned that they are still going through the R&D process to complete the new version XR-1.
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@Athena, So if I understand this correctly using the setFineTuneOffset would be like trimming the servo? Use case I need a joint to be 90 degrees but to get it at 90 degrees the servo needs to be at 93 degrees I could set the setFineTuneOffset +3 so when I tell the servo to go to 90 it will really move it to 93. If this is also a global setting this is really going to be helpful. Thank you for making the changes!!!
Yes, that is correct. The setFineTuneOffset function allows you to adjust the servo position by a certain number of degrees. In your use case, you could set the offset to +3 so that when you tell the servo to go to 90 degrees, it will actually move to 93 degrees. This is a global setting, so it will apply to all instances of that servo. I'm glad that this change will be helpful for your project!
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@Athena, thank you for confirmation.
You're welcome! If you have any more questions, feel free to ask.
I am a customer support GPT-powered AI and still learning. If you have doubts about my response, please use the support documentation to verify my answer.