chip updates: let's play with some dancing steps and maybe walking [updates]
So here's some observations before we even get into this and that's the limiting factor in this system has nothing to do with things like the motors themselves, the RIO, or the jetson, or even the power we supply to the system.
It lies in how we supply power to the system (yes, there's a difference). So the way we're supplying the power is through a 24V-12V 40A DC converter and there's the problem "40A." The converter is only rated for 40A which means that no matter what we do we won't be able to exceed 12*40 = 480W of power when each of the motors can take close to that individually which is why they're power limited. So what we really should be doing is supplying the robot's power distribution power with a source that can achieve 12V x 480A technically since each motor is rated to 40A if we want them running at full chap all the time.
Now that's if we want the peak performance out of all of the motors. At the moment I don't even think we have a power supply that can remotely pull that so the current setup (with the power supplies we have) is actually probably the best we can do.
But in the future, it might be worth looking into. a high a and low power mode for the system.
So the other note I want to make is we added some things to our "studio" which are these large lights that actually allow us to control the picture we get a lot better especially on the not-so-good days (rainy days). Some notes from testing as well.
If we don't set the terrain_offset correctly and the platform falls too far forward and tries to recover. It does a pretty cool dance move we should record.
Okay so now we want to do a little more with DANCE MODE and the plan is to get some basic moves down. The first thing we're trying to do is get the platform to lean in the forward backward left and right directions using the joystick.
The thing is while we were testing this we learned something. First, that preprogrammed sequences work better than joystick control from the xBox controller just because I think of how the software is setup. So we tried a new line of code and we got a really cool dance move!!!!
if(LB == 1.0 and len(trajRunner.waypoints)==0): COMMAND = [0.07, 0.4, 0.0, 0.07, 0.4, 0.0, 0.07, 0.4, 0.0, 0.07, 0.4, 0.0] trajRunner.addWaypoint(doIK(COMMAND)) COMMAND = [-0.1, 0.3, 0.0, -0.1, 0.3, 0.0, -0.1, 0.47, 0.0, -0.1, 0.47, 0.0] trajRunner.addWaypoint(doIK(COMMAND)) if(RB==1.0 and len(trajRunner.waypoints)==0): COMMAND = [0.05, 0.2, 0.0, 0.05, 0.2, 0.0, 0.05, 0.2, 0.0, 0.05, 0.2, 0.0] trajRunner.addWaypoint(doIK(COMMAND)) trajRunner.addWaypoint([-8.0, 0.0, 0.0, -8.0, 0.0, 0.0, -8.0, 0.0, 0.0, -8.0, 0.0, 0.0]) trajRunner.addWaypoint([0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) trajRunner.addWaypoint(DEFAULTS.STARTING_CONFIG)
Okay fine maybe it isn't the coolest robot dance move you've ever seen but it isn't the worst one. I think it's kinda a cool rise and snap...? I think what might make this robot dance thing even more interesting might be if we use a gimbal to film and then move the camera around and through the robot? But who knows we'll have to see later.
So I think, however, that we do now have a technique for making the robot dance and that technique is to determine the choreography before and throw it in as a set of points like a trajectory because that's the best way to not have the robot like do super strange things. We also turned off all IMU responses in dance mode so we can make the platform do whatever we please.
Soon (this weekend) we'll try walking so we can start getting this platform in a better working condition. Until then I think it's time to sign off we did make chip work hard today :))