nate711 / doggo Goto Github PK

Make it so that if you change the frequency of the gait, the trajectory doesn't jump discontinuously.

I have build up a doggo。 Calibration leg downward movement,next leg turn horizontal。Next send command set parameter：h 0.15，d 0.05，u 0.05，p 0.35，l 0.1，f 1.5，s 0.0；the parameter set successful。Then put doggo on the floor,leg can't stand horizontal。Next send W command let doggo walk，but Doggo fall down can‘t stand up。

Dear Team,
Now I am rebuilding the Doggo . I check the code ,find that "BlinkThread" use the LED_BUILTIN ( #define LED_BUILTIN (13) ), while the IMU SPI port still use the pin 13 as the SCK .
I know that I can re-assign a pin . But I just want to confirm that I start from a golden point .

Hello!
We have configure teensy and odrive by your code(The only difference is we use AS5047P with a cpr of 4000, which I assume won't impact main function. We also comment out //#define USE_XBEE so we are using computer serial.)

However, when we send command (ie. E, R)to teensy by Serial software on computer, the motor was not moving at all, it just stay in close_loop state.

In the function SendByte, a "uint8_t" byte(which equals to unsigned char) is transformed into a "char", I guess this leads to my problem because when byte>=128 it will be transform to a negative number but I have not idea if this really matters.
void ODriveArduino::SendByte(uint8_t byte) { serial_ << (char)byte; }
Thanks!

Doggo comman 'H' and 'W' are right. The 'F' command doggo is not good. The parameters use the software defualt value {0.15, 0.07, 0.06, 0.2, 0.0, 1.0, 0.0}, // FLIP;whitch value should change.

Thanks.

It would be nice to add certain serial commands that would enable certain groups of print statements, or at least add a better system of using #define DEBUG.

Hi, I had some trouble in Odrive config. I run "full_calibration"(odrive/tool/doggo_setup.py) and test motor by "set_pos_position" like this:
odrv.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
odrv.axis1.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
time.sleep(3)
odrv.axis0.controller.set_pos_setpoint(2000.0, 0.0, 0.0)
odrv.axis1.controller.set_pos_setpoint(2000.0, 0.0, 0.0)
time.sleep(3)
odrv.axis0.controller.set_pos_setpoint(0.0, 0.0, 0.0)
odrv.axis1.controller.set_pos_setpoint(0.0, 0.0, 0.0)
time.sleep(3)
odrv.axis0.controller.set_pos_setpoint(-2000, 0.0, 0.0)
odrv.axis1.controller.set_pos_setpoint(-2000.0, 0.0, 0.0)
time.sleep(3)
odrv.axis0.controller.set_pos_setpoint(0.0, 0.0, 0.0)
odrv.axis1.controller.set_pos_setpoint(0.0, 0.0, 0.0)
time.sleep(3)
odrv.axis0.controller.set_pos_setpoint(4000.0, 0.0, 0.0)
odrv.axis1.controller.set_pos_setpoint(4000.0, 0.0, 0.0)
time.sleep(3)
odrv.axis0.controller.set_pos_setpoint(0.0, 0.0, 0.0)
odrv.axis1.controller.set_pos_setpoint(0.0, 0.0, 0.0)
time.sleep(3)
odrv.axis0.controller.set_pos_setpoint(-4000, 0.0, 0.0)
odrv.axis1.controller.set_pos_setpoint(-4000.0, 0.0, 0.0)
time.sleep(3)
odrv.axis0.controller.set_pos_setpoint(0.0, 0.0, 0.0)
odrv.axis1.controller.set_pos_setpoint(0.0, 0.0, 0.0)

But the motor sometimes will go crazy and the vel_limit doesn't seem to work. I exchanged the connection of two motor and ODrive, but the motor still go crazy randomly, and not sure which one will. It seems problem is not enconder failure. When I config single axis of ODrive, there is no problem.
And I also don't understand what's the difference between the flag "startup_encoder_index_search" and "startup_encoder_offset_calibration".

Is the doggo able to rotate on the spot, or take arcing trajectories?

If no, are there any suggestions on how one might help contribute that functionality?

Hi, Doggo team, I am almost finishing the project. Does anybody know where is the relay coil control wires(the ESTOP) connected to ? Where is the ESTOP located? Where is the 12V volts to the relay control coming from? Thanks. BEN

After installing the hardware, what should I do next? (software)

Build and Upload work well. But i can't send any signal to teensy with PlatformIO: serial monitor. Could anyone tell me how to use it.

Hi, guys, I am new here, and I have more than 25 years of microcontroller programming experience, and I found DOGGO platform on Internet, and I am very interested in developing more advanced features on this platform. Is any body knowing where can I or how can I buy a Doggo robot for testing? Thanks

Ben
Petrel AI System, Surrey,Canada
my email: [email protected]

Instead of directly setting the state variable, encapsulate that behavior in a function like "TransitionToStop," which could also do things like print "Transitioning to STOP state" and also have some side effects.

1. Electrical
2. CS architecture

Hi, I want to ask How to configure ODrive before connect it to teensy? I try to configure ODrive as follows but the motor go crazy(Rotating very fast) sometimes, is there any problem in config?

% init:
odrv0.erase_configuration()
odrv0.reboot()
odrv0.config.brake_resistance=0
odrv0.axis0.motor.config.pole_pairs=11
odrv0.axis0.motor.config.resistance_calib_max_voltage=4.0
odrv0.axis0.encoder.config.cpr=2000
odrv0.axis0.motor.config.current_lim=10
odrv0.axis0.motor.config.calibration_current=10
odrv0.axis0.motor.config.pre_calibrated=False
odrv0.axis0.encoder.config.pre_calibrated=False
odrv0.axis0.controller.config.pos_gain=0.01
odrv0.axis0.controller.config.vel_gain = 5.0/10000.0
odrv0.axis0.controller.config.vel_limit=5000.0
odrv0.axis0.controller.config.vel_integrator_gain = 0
% motor calibration:
odrv0.axis0.requested_state=AXIS_STATE_MOTOR_CALIBRATION
odrv0.axis0.motor.config.pre_calibrated=True
% encoder calibration:
odrv0.axis0.encoder.config.use_index=True
odrv0.axis0.requested_state
odrv0.axis0.requested_state=AXIS_STATE_ENCODER_INDEX_SEARCH
odrv0.axis0.requested_state
odrv0.axis0.requested_state=AXIS_STATE_ENCODER_OFFSET_CALIBRATION
odrv0.axis0.requested_state
odrv0.axis0.encoder.config.pre_calibrated=True
% startup config
odrv0.axis0.config.startup_encoder_index_search=True
odrv0.axis0.config.startup_closed_loop_control=True
odrv0.save_configuration()
% test motor
odrv0.axis0.requested_state=AXIS_STATE_CLOSED_LOOP_CONTROL %(1)
odrv0.axis0.controller.pos_setpoint = 1000 %(2)

The motor go crazy sometimes at (1) and sometimes at (2) . The encoder seem work properly, I read the encoder data find that set_postion at positive 1000 but the motor ratate in the negative direction and it's speed is getting faster and faster. Is there any sequential requirement for connection motor and ODrive connections?

I really need the circuit diagram to check if my wiring is right. can you provide one to me ?

Go into some kind of e-stop mode, or at least don't execute on the command, when you command a x,y coordinate that isn't feasible for the leg.

Check the research document.

1. Belt drive explosion
2. Leg dimension diagram

What does the parameter of “leg_direction” mean?Which leg does leg0, leg1, leg2, leg3 represent respectively?Thank you.

Hello there! I have done previous jobs to run doggo codes on teensy and Odrive boards which have had been tested in doggo-firmware,are working well.The thing is when I commanded a JUMP with "J;" in Arduino Serial Monitor, the motors were nearly like stucking(the fact is that they moved 5-8 degrees) with noise of heavy "cluck".I have tried to load up the leg but it didn't move at all.The wiring of motors and Odrive, Teensy to Odrives are exactly copied from the image you guys provided.
My guess is that I have to re-tune the gains of close-loop-control because the gains and setponits of each specific movement is settled according to source code and the paras maybe differ form hardwares.
Have you guys ever met this before?I am looking forward your sooner reply!Thank you!

The description states the code and design is open source, but it should have the MIT license (or other license) attached to it so that others can use it more freely.

We could use a task queue to keep track of events such as a jump command. In that case we'd append the jump behavior to the task queue and then wait for it to complete before going back to default behavior. Using a task queue instead of a state machine might be more extensible because instead of writing an additional switch statement for every new behavior, you would instead only write the behavior function and pass that a pointer to that function to the queue. Something like that anyways.

Images like the stanford horse experiment.

do you know how to buy a doggo?i want to buy it

Dear team,
I compiled and uploaded the Doggo code into my Teensy 3.5 board in PlatformIO, however there was no LED flashing and no serial information output for monitoring, so I donot know if the Doggo code is running. I spent many days and still not solved the problem. Did anybody meet this kind of problem and know how to solve it? Or, any special concerns needed for compiling the Doggo
code? Thanks. BEN

1. Whole robot lab 64 in front of the banner
2. Close up of belt drive system
3. Pictures during some gait (prob trot)