[Development Tutorial 4] crazy shell · humanoid hip-hop robot PC upper computer online debugging

Multi DOF humanoid biped dance robot
—— Crazy shell · Robot development series
PC Online debugging of upper computer

    First, find the upper computer debugging software in the file we provide robotCtrl, Double-click to open , The interface is as follows .
 
    
    chart 1
    The steering gear icon in the interface is like a human , Every steering gear in the human form corresponds to the steering gear on our robot one by one .
    
    
    chart 2
    There are two values in each steering gear control window ：B、P. Progress bar P You can drag at will ,P Indicates the position of the steering gear （ Default to median 1500） The scope is 500-2500,B Indicates steering gear deviation （ The default is 0）, That is, the relative position of the steering gear , The scope is -100~ +100, The absolute position in the imported Action Group P0=B+P.
 
    
    chart 3                                      chart 4
    there B By double click B Turn on , Double click B Turn off the adjustment . If B=20 P=1500, Actual steering gear sending P1520, Used to repair steering gear deviation . Each steering gear has its own steering gear deviation B, Wait for adjustment B Then you can save , Use the open button to re import the deviation .
    We plug in the robot USB Interface , First click the refresh button in the connection management window , Then choose the latest COM mouth , And click Open . One thing to note is that the baud rate in the connection management window is 9600.

    
    chart 5
    When the connection is complete , First click real-time debugging in debugging management , We can drag the progress bar in each steering gear control window left and right , So as to control the angle of the corresponding steering gear . This is the time , The corresponding steering gear will also rotate left and right .
    We drag the progress bar in the steering gear control window of the robot's head to the far left , Then click Add action in action management . When it's done , take 13 Drag the progress bar in the steering gear control window to the far right , Then click Add action in action management . Two lines of action data will appear in the action data box below .
 
    
    chart 6
    We select the loop , Click after online operation , You can repeat these two actions . The corresponding phenomenon is that the robot is shaking its head left and right .

 
    chart 7
    After debugging the above simple actions , We can download the actions created above . First click erase in download management , Then click download , Download the action group data to the outside Flash among .
    

    chart 8
    After downloading , You can run offline . Finally, add a few other functions , You can try it yourself .
    （1） Send area and receive area in the connection management window , In fact, it is the sending and receiving box of a serial port debugging tool , Can send and receive data .
    （2） Action management box
    

    chart 9
    The time interval ： The time when an action is completed . Add action ： Add an action .
    Delete action ： Delete the selected action .
    
    More action ： Is to modify and replace the previous action .
    
    Complementary action ： Is to create a new action between actions . Save action ： Save the current action group as a file .
    Open action ： Open the action file , Load actions in the action file .
    
    （3） Basic operation box
    

    chart 10
    The steering gear returns to the center ： Turn all steering gear P Value to 1500.
    
    Open deviation ： Load deviation file , Modify the B value .
    
    Save deviation ： Set the B Values are saved as files .
    
    

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