hamedtorky / arbotix Goto Github PK

Add ability to upload the pypose sketch from within PyPose. Possibly add the 
ability to adjust the sketch for NUKE output, would allow test drives...?

What steps will reproduce the problem?
1. Create a new pose
2. Give it a blank name

What is the expected output? What do you see instead?
Warning message should probably pop up, instead, all hell breaks loose.

Under WinXP, the New Robot dialog is poorly sized, and difficult to use.

As of Arduino 0017, the default servo library is the MegaServo library, we
should adapt and verify it as working with the Sanguino/ArbotiX core.

What steps will reproduce the problem?
1. I downloaded and installed pypose according to the installation instructions 
on the pypose site
2. Tried to launch Pypose.py 
3. Get the error below

What is the expected output? What do you see instead?

Traceback (most recent call last):
  File "/Users/rafael/Desktop/pypose/PyPose.py", line 403, in <module>
    frame = editor()
  File "/Users/rafael/Desktop/pypose/PyPose.py", line 95, in __init__
    name = getattr(module, "NAME")
AttributeError: 'module' object has no attribute 'NAME'

What version of the product are you using? On what operating system?
Lastest version pypose
python-2.7.3-macosx10.6.dmg  
wxPython2.8-osx-unicode-2.8.12.1-universal-py2.7.dmg
Mac OSX 10.8 .2

Please provide any additional information below.
Tried different variants of python and wxphyton and combinations thereof 
Forced python in 32bit mode 
with the same results

What steps will reproduce the problem?

1) Load a project into PyPose.
2) Go to the NUKE editor tool.
3) Click the 'Go' button next to Set/Test Signs.


What is the expected output? What do you see instead?

I expect get the "Click OK when ready!" dialog with the title "Sign Test", from 
doSignTest in tools/models/lizard3.py

Instead, I get the following error:

  File "tools/NukeEditor.py", line 325, in doSignTest
    self.loadModel()
AttributeError: 'NukeEditor' object has no attribute 'loadModel'



What version of the product are you using? On what operating system?

Path: .
URL: http://arbotix.googlecode.com/svn/trunk/pypose/tools
Repository Root: http://arbotix.googlecode.com/svn
Repository UUID: 0ddeed48-8230-11de-bf8c-fd130f914ac9
Revision: 651
Node Kind: directory
Schedule: normal
Last Changed Author: MFergs7
Last Changed Rev: 650
Last Changed Date: 2012-09-02 00:27:59 -0400 (Sun, 02 Sep 2012)


Please provide any additional information below.

$ grep -rl 'loadModel' .
./tools/.svn/text-base/NukeEditor.py.svn-base
./tools/NukeEditor.py

This appears to have been removed around this patch: 
http://code.google.com/p/arbotix/source/diff?spec=svn499&r=499&format=side&path=
/trunk/pypose/tools/NukeEditor.py

Auto-save prompt is needed on the following:
1. sequence editing
2. sequence creation
3. pose creation

What steps will reproduce the problem?
Follow the steps on the wiki exatly.

What is the expected output? What do you see instead?

should see my servos - but no luck.
Tired both baud rate 115200 and 38400


What version of the product are you using? On what operating system?
The latest of everything.



Please provide any additional information below.

HI 

 i got an ArbotiX (wthXBee) connected to my Mac (running 10.8.2) using an ISP adapter via USB, i am trying to control a DX12AX servo 

i am trying to follow steps from http://code.google.com/p/arbotix/wiki/PyPose 
but it is quite confusing... 


1. "Most users will want to download the latest ArbotiX/PyPose release from the 
front page, extract the zip file, and copy the contents of the arbotix folder 
into the sketchbook. This includes the hardware folder, libraries folder and a 
number of example sketches." >"copy the contents of the arbotix folder into the 
sketchbook."
i can see my board in Arduino but not sketch folder. or examples for it ? can 
someone please post what exactly which files goes where ? 

2. "Open the Arduino IDE, from File -> Open select the PyPose sketch. From the 
Tools -> Board menu, select ArbotiX board to make sure all went well above. 
Connect your board via either the ISP or FTDI cable, select the correct port, 
and Upload it. While we ship each board with a version of pypose installed, it 
may not be the latest. "

i have install wxPython, PySerial (tar file?) but this :"Put the PyPose 
software in an easy to use location, and start pypose.py to run PyPose." i dont 
find it ? and i am not able to run the python test via terminal ?


any help appreciated thanks
rob

We need keyboard shortcuts, mainly for pose capture:
 * Capture to pose
 * Advance to new pose
 * Relax

This also entails adding a "change pose name" dialog...

All work can be done inside tools/PoseEditor.py

What steps will reproduce the problem?
1. I downloaded and installed pypose according to the installation instructions 
on the pypose site
2. I connected the computer to the ArbotiX board which has 5 servos (a 
turtlebot arm) attached via a USB to Serial TTL cable.
3. I tried to upload pypose.pde

What is the expected output? What do you see instead?
I should have been able to upload the program to the board.  Instead I get the 
following error:

In file included from 
/usr/lib/gcc/avr/4.5.3/../../../avr/include/util/delay.h:44:0,
                 from /usr/lib/gcc/avr/4.5.3/../../../avr/include/avr/delay.h:37,
                 from /home/marc/sketchbook/hardware/arbotix/cores/arbotix/wiring_private.h:30,
                 from /home/marc/sketchbook/hardware/arbotix/cores/arbotix/WInterrupts.c:33:
/usr/lib/gcc/avr/4.5.3/../../../avr/include/math.h:426:15: error: expected 
identifier or ‘(’ before ‘double’
/usr/lib/gcc/avr/4.5.3/../../../avr/include/math.h:426:15: error: expected 
‘)’ before ‘>=’ token

The offending section of code in math.h is:

/**
    The round() function rounds \a __x to the nearest integer, but rounds
    halfway cases away from zero (instead of to the nearest even integer).
    Overflow is impossible.

    \return The rounded value. If \a __x is an integral or infinite, \a
    __x itself is returned. If \a __x is \c NaN, then \c NaN is returned.
 */
extern double round (double __x) __ATTR_CONST__;  /** Line 426 */
#define roundf  round       /**< The alias for round(). */



What version of the product are you using? On what operating system?
I am using the latest version of pypose (the one included with 
arbotix-0014.zip) running on Ubuntu 11.10

Please provide any additional information below.
I have not made any changes to math.h other than the /** Line 426  **/ comment.

The patch is kludgy, at best. Make ArbotiX release, with:
 * Full patched version of Sanguino code inside
While we're at it.. might as well port forward some things from Arduino
14->17 releases, specifically:
 * New timer0 overflow code (from Arduino 0016)
 * New Servo library (from Arduino 0017), not sure this really requires
much updates

We also need a MACOSX tester... volunteers?

In ax12.cpp your implementation of ISR(USART1_RX_vect) can cause the 
ax_rx_int_buffer to overflow (and the Arduino to crash) when a servo starts 
sending error packets.

I've added a buffer check to prevent this:

ISR(USART1_RX_vect){
++  if (ax_rx_int_Pointer < AX12_BUFFER_SIZE)
        ax_rx_int_buffer[(ax_rx_int_Pointer++)] = UDR1;
}

The border area around the pose and sequence editors, under WinXP is a
darker color. 

The Pose Editor cannot display more than 18 servos on most netbooks (it
runs out of space)

As soon as we click Settings|Configuration we lose the current port selection. 

If a port opening fails, the error message is not correctly carried to the
user.

1. Add an AX-S1 driver to the BioloidController Library.
2. Add an AX-S1 viewer to PyPose

What steps will reproduce the problem?
1. create 31 or more poses for a six servo ax-12 "snake"
2. Load them into the sequencer
3. create a sequence and load all poses into it

What is the expected output? What do you see instead?
Should run 31+ steps in sequence editor...  instead at step 31 the servos go 
crazy and smash into each other then the last 1 or 2 servos in the chain turn 
red (led)... I then need to unplug power to reset them...  problem repeats but 
if I start removing the last poses from the sequence one at a time it stops 
malfunctioning when only 30 steps are in the sequence.  I then tried creating a 
new pose and adding the new pose as #31 in the sequence and the problem 
reoccurred.

What version of the product are you using? On what operating system?


Please provide any additional information below.
Running 6 servo tentacle, single serial line of cables across all servos.  
power to the arbotix is supplied by a 12v lead acid battery.

connection to pypose:  Arbotix --> UARTSbee --->USB pc running win8

i have aproblem with starting pypose
i download python2.7,wxpython2.9 and pyserial
i install them when i try to start pypose i had this message

Traceback (most recent call last):
File "C:\Users\abdo\Desktop\pypose\arbotix-pypose-v1.1-beta1\pypose\PyPose.py", 
line 373, in <module>
frame = editor()
File "C:\Users\abdo\Desktop\pypose\arbotix-pypose-v1.1-beta1\pypose\PyPose.py", 
line 136, in __init__
self.SetBackgroundColour(wx.NullColor) # 
wx.SystemSettings.GetColour(wx.SYS_COLOUR_MENU)
AttributeError: 'module' object has no attribute 'NullColor'

Ctrl-C is a particularly bad choice.

When creating a new sequence, there is a blank transition in the transition
list box, it can really frig stuff up.

What steps will reproduce the problem?
1. Press "loop" button
2. Before loop is stopped, press loop again
3. PyPose hangs

See Summary...

Add ability to adjust speed of transition when setting a pose in the Pose
Editor

What steps will reproduce the problem?
1. Forget to select a pose
2. Click Capture or Set Pose

What is the expected output? What do you see instead?
Should tell you to select a pose.

Please use labels and text to provide additional information.
Tells you that the port isn't open. 

And shouldn't send out to the Console either...

The EX-106 servo has a range of 12-bits, rather than 10, we need to do the
following:

# Allow PyPose to go up to 4095 for EX servos
# Select which servos are EX
# Adjust the radToServo() function of NUKE

What steps will reproduce the problem?
1. Build PhantomX Hexapod.
2. Load PyPose and run the "NUKE editor".
3. Assign servos to the labeled locations.
4. Capture limits and neutral poses. 
   To easily see the issue, create the ik_neutral pose with all values  512, except for corner COXA servos. 
e.g. 
Pose=ik_neutral:674, 350, 512, 512, 512, 512, 350,674, 512, 512, 512, 512, 512, 
512, 512, 512, 512, 512

5. Export firmware.
6. Load firmware onto robot. (may have to comment out "#include <WProgram.h>" 
in nuke.cpp Arduino 1.0.1 environment.)

What is the expected output? 

The center coxa servos should point straight out, the corner ones will not 
align correctly due to incorrect signs, and all other servos will be at similar 
angles.

What do you see instead?

The servo alignments do not apear as described. The left middle servo is not 
correctly positioned.


What version of the product are you using? On what operating system?

PyPose-0015.zip from http://code.google.com/p/arbotix/downloads/list

On Ubuntu 12.04

Please provide any additional information below.

The servo_layout map in tools/models/lizard3/lizard3.py does not specify the 
same ordering as the NukeEditor export function. It interleaves left and right 
servos, instead of the current "leg at a time" order. This mismatch results in 
the labels being incorrectly assigned in the interface, compared to how the 
servo indexes are used internally.

The patch below allows the expected behavior to occur. (Additional minor patch 
to NukeEditor changes view to three column, is t not included. ) After applying 
this patch the robot's initial pose is as expected. (The signs must be manually 
adjusted in project file though; see Issue 30.) 

--- pypose-0015/tools/models/lizard3/lizard3.py 2012-10-01 11:30:55.000000000 
-0400
+++ pypose-patched/tools/models/lizard3/lizard3.py      2012-10-03 
09:03:11.742890411 -0400
@@ -67,7 +67,7 @@
         self.vars = { 0:["Coxa(mm)",50],1:["Femur(mm)",50],2:["Tibia(mm)",50],3:["X(mm)",50],4:["Y(mm)",50],5:["Mid-Y(mm)",50],6:["X(mm)",0],7:["Y(mm)",0] }

         # Column 3 = Servo Values, need both specification of layout and data. 
-        self.servo_layout = ["LF Coxa","RF Coxa","LF Femur","RF Femur","LF 
Tibia","RF Tibia","","","LM Coxa","RM Coxa","LM Femur","RM Femur","LM 
Tibia","RM Tibia","","","LR Coxa","RR Coxa","LR Femur","RR Femur","LR 
Tibia","RR Tibia"]
+        self.servo_layout = ["LF Coxa","LF Femur","LF Tibia","RF Coxa","RF 
Femur","RF Tibia","","","","LM Coxa","LM Femur","LM Tibia","RM Coxa","RM 
Femur","RM Tibia","","","","LR Coxa","LR Femur","LR Tibia","RR Coxa","RR 
Femur","RR Tibia"]
         self.servos = { "RF Coxa":1, "RF Femur":3, "RF Tibia":5, "LF Coxa":2,"LF Femur": 4,"LF Tibia":6,"RR Coxa":7, "RR Femur":9, "RR Tibia":11, "LR Coxa":8, "LR Femur":10, "LR Tibia":12, "RM Coxa":13,"RM Femur":15,"RM Tibia":17,"LM Coxa":14,"LM Femur":16, "LM Tibia":18}

What version of the product are you using? On what operating system?
PyPose/NUKE 0015 on XUbuntu 12.04

Please provide any additional information below.
Added sorting to the pose editor's list of poses
Added sorting to the sequence editor's list of sequences
Added a "copy" button to the pose editor.
Usage:
 - Select and existing pose
 - Click the copy button ( a text entry dialogue appears )
 - Enter in a new name for the copied pose
Added pose mirroring to the pose editor.
  Pose mirroring being the ability to easily create a mirror image of and existing pose.
  There are 2 parts to this, mirroring and mirror mapping
 * Mirroring consists of looping over all servos in the project and applying the difference between the existing servo's position and 512 in the opposite direction.  ie. a servo position of 600 would become 424.  512 - ( 600 - 512 ) = 424
   To skip mirroring a servo, uncheck the checkbox used to relax a servo (existing functionality was not touched, the servo will relax still).
 * Mirror Mapping is an enhancement to standard mapping that allows the user to define a paired servo relationship where the servo values are swapped and then mirrored.  This mapping is saved when the project is saved.  This allows you to have a pose of your robot leaning left, create a copy with the copy button, then hit the mirror button to have a leaning right pose.
Usage (assuming a project is loaded):
 - Click "mirror map" (a dialogue window with the current list of servo relations appears).
 - Select a servo to pair with another and click "OK" (double clicking the servo is also valid and a new dialogue window just like the previous is displayed)
 - Select the second servo in the pairing and click "OK" (The updated relationship list is printed to the terminal)
 - Repeat for all pairings required 
 - Select an existing pose you would like to mirror (probably a copy of another pose)
 - Click the "mirror" button

Based on SMALdog

18 is causing too many headaches, we don't need the optimizations...

Arduino Release 0018 has a new 3rd-party interface, unfortunately, this
requires a number of changes on our end. 

We need to add the direction select in order to use a MAX485. This will
require a small amount of changes to BioloidController

modify ax12.h to expose the error variable

The following features still need to be implemented:

1. ls baud - list, with baud rate change
2. set param index value - set a parameter (position, speed, tuning)
3. get param index - get a parameter (position, speed, temp, tuning) 

Following this wiki page 
:http://arbotix.googlecode.com/svn-history/r349/wiki/GettingSetup.wiki 

= !PyPose Setup =
!PyPose is a pose and capture program, written in Python using wxPython. We of 
course will have to install Python, wxPython, !PySerial to access serial ports, 
and then !PyPose itself.
 # Download and install Python 2.5: http://www.python.org/download/releases/2.5.4/
 # Download and install wxPython: http://www.wxpython.org/download.php
 # Download and install !PySerial: http://sourceforge.net/projects/pyserial/files/
 # Put the !PyPose software in an easy to use location, and start pypose.py to run !PyPose.

sorry for this question but where is the !PyPose software  ?

What steps will reproduce the problem?
1. Include Bioloid Controller library in Arduino sketch
2. Attempt to initialize either Serial, Serial2, or Serial3 (using Arduino
Mega)

What is the expected output? What do you see instead?

I expect that I'd be able to read and write to the other serial ports on
the controller, but when trying to initialize them, I get the following
error compiling: ...\hardware\libraries\Bioloid/ax12.cpp:67: first defined here

This happens with Serial, Serial2, and Serial3.



What version of the product are you using? On what operating system?
Using the currently available ax12.cpp/.h and bioloidcontroller.cpp/.h with
Arduino Mega on Windows XP 32-bit.

fixes issue 28