From: clarkwu <wu....@gm...> - 2009-08-20 11:18:12
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My testing with Pioneer p3-dx robot is now almost frustrating. I just want the P3-DX to rotate one round and continuously read serial port during this process. as the following code segment ...... robot.Read(); double yaw0=pp.GetYaw(), yaw=yaw0, yaw1=yaw0; while( fabs(yaw1-yaw0) < (1-0.01)*(2*Pi) ) { pp.SetSpeed(0, dtor(turnrate)); irVal.push_back(IR_Read(ir_ind)); robot.Read(); yaw=pp.GetYaw(); if (fabs(yaw-yaw1)>Pi) { if (yaw>yaw1) yaw1=yaw-2*Pi; else yaw1=yaw+2*Pi; } else yaw1=yaw; rOrient.push_back(yaw1); } pp.SetSpeed(0, 0); ...... The quite mysterious phenomena is when the turnrate value is 15 degree/sec or less, the robot moves in a jerky way, i.e., suddenly stop a while every 2 seconds during the rotation. If the turnrate value is above 15, then the robot is smooth throughout the whole round turning. Then i keep only the SetSpeed() within the while loop, ... while(1) { pp.SetSpeed(0, dtor(turnrate)); } ... and the result is the same! I also tried set direct_wheel_vel_control to 0 in .cfg file, and pulse value to 0.1, and still no luck. Really appreciate your help. clark -- View this message in context: http://www.nabble.com/strange-jerky-motion-with-position2d.Setspeed%28%29-on-Pioneer-p3-dx-robot-tp25060161p25060161.html Sent from the playerstage-users mailing list archive at Nabble.com. |
From: clarkwu <wu....@gm...> - 2009-08-21 03:24:15
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Forgot to mention, every time when the P3DX robot jerks, it also gives a beep sound. After searching threads in this forum, I thought it was the watchdog inside P3DX is working, so tried to set pulse value inside .cfg file to different values like 1, 0.5, 0.1. Yet no any luck. -- View this message in context: http://www.nabble.com/strange-jerky-motion-with-position2d.Setspeed%28%29-on-Pioneer-p3-dx-robot-tp25060161p25073576.html Sent from the playerstage-users mailing list archive at Nabble.com. |
From: clarkwu <wu....@gm...> - 2009-08-22 08:12:19
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Today I further tried adding robot.SetDataMode(PLAYER_DATAMODE_PULL) in the client program, yet the robot still rotates jerkily. I tested the most simple rotation routine on two P3-DX robots in our lab, the jerks appear on both robots. This is really frustrating and I am totally lost, what's happening ... Could somebody help to test the http://www.nabble.com/file/p25091623/pureRotation.cc pureRotation.cc following simple program on a real P3-DX robot and check whether the jerk appear or not during the rotation http://www.nabble.com/file/p25091623/p2os.cfg p2os.cfg ? thanks a lot clark -- View this message in context: http://www.nabble.com/strange-jerky-motion-with-position2d.Setspeed%28%29-on-Pioneer-p3-dx-robot-tp25060161p25091623.html Sent from the playerstage-users mailing list archive at Nabble.com. |
From: Johannes W. <jw...@te...> - 2009-08-22 08:46:20
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Hi, Am 22.08.2009 10:11 schrieb clarkwu: > Today I further tried adding robot.SetDataMode(PLAYER_DATAMODE_PULL) in the > client program, yet the robot still rotates jerkily. I tested the most > simple rotation routine on two P3-DX robots in our lab, the jerks appear on > both robots. > > This is really frustrating and I am totally lost, what's happening ... Did you already try these p2os options: alwayson 1 direct_wheel_vel_control 0 Johannes |
From: clarkwu <wu....@gm...> - 2009-08-22 09:34:39
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yeah, surely I tried both parameters in the .cfg file; but no effect. languitar wrote: > > Hi, > > > Did you already try these p2os options: > alwayson 1 > direct_wheel_vel_control 0 > > Johannes > > -- View this message in context: http://www.nabble.com/strange-jerky-motion-with-position2d.Setspeed%28%29-on-Pioneer-p3-dx-robot-tp25060161p25092163.html Sent from the playerstage-users mailing list archive at Nabble.com. |
From: Paul O. <new...@ki...> - 2009-08-22 15:03:51
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On Sat, 22 Aug 2009, clarkwu wrote: > > Today I further tried adding robot.SetDataMode(PLAYER_DATAMODE_PULL) in the datamode should not be an issue here. what about playerv? try also this http://king.net.pl/playercontrib/keydrive I have tested this with all my p2dx pioneers and roombas. It sets velocity using playerc API, if it works fine, something is wrong with playerc++ API, or with your client-side program. Paul > client program, yet the robot still rotates jerkily. I tested the most > simple rotation routine on two P3-DX robots in our lab, the jerks appear on > both robots. > > This is really frustrating and I am totally lost, what's happening ... > > Could somebody help to test the > http://www.nabble.com/file/p25091623/pureRotation.cc pureRotation.cc > following simple program on a real P3-DX robot and check whether the jerk > appear or not during the rotation > http://www.nabble.com/file/p25091623/p2os.cfg p2os.cfg ? thanks a lot > > clark > > > -- > View this message in context: http://www.nabble.com/strange-jerky-motion-with-position2d.Setspeed%28%29-on-Pioneer-p3-dx-robot-tp25060161p25091623.html > Sent from the playerstage-users mailing list archive at Nabble.com. > > > ------------------------------------------------------------------------------ > Let Crystal Reports handle the reporting - Free Crystal Reports 2008 30-Day > trial. Simplify your report design, integration and deployment - and focus on > what you do best, core application coding. Discover what's new with > Crystal Reports now. http://p.sf.net/sfu/bobj-july > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users > |
From: clarkwu <wu....@gm...> - 2009-08-23 07:31:37
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Paul, thanks for your help. I did download and test the keydrive program you kindly provide. Using the .cfg file I attached in previous post, when I run keydrive on my P3DX robot with the original settings, i.e., turnrate=1 radium/second, no jerks appeared; but after I changed the turnrate to 10 degrees/second, the robot start to jerk after rotating about 180 degrees, which is exactly as happened on my own test program. Could you help verify this? Now I keep wondering whether this is caused by some other safety setting inside pioneer robot like the safety watch dog, or caused by message jam as talked in the forum... clark Paul Osmialowski wrote: > > On Sat, 22 Aug 2009, clarkwu wrote: >> >> Today I further tried adding robot.SetDataMode(PLAYER_DATAMODE_PULL) in >> the > datamode should not be an issue here. > > what about playerv? try also this > http://king.net.pl/playercontrib/keydrive > I have tested this with all my p2dx pioneers and roombas. It sets velocity > using playerc API, if it works fine, something is wrong with playerc++ > API, or with your client-side program. > > Paul > > -- View this message in context: http://www.nabble.com/strange-jerky-motion-with-position2d.Setspeed%28%29-on-Pioneer-p3-dx-robot-tp25060161p25100993.html Sent from the playerstage-users mailing list archive at Nabble.com. |
From: Paul O. <new...@ki...> - 2009-08-23 08:18:28
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Ah that reminded me, years ago our pioneers were reconfigured to make them able to move faster. I don't know now how it was before but yeah, there was some kind of safety settings involved. But, I guess the reason is somewhere else. Keydrive turns robot with fixed rate 1 rad/sec (57.3 deg/sec, see Player 2.x manual says: translational velocities [m/s,m/s,rad/s] (x, y, yaw)) which is quite fast for the Pioneer. I can't imagine turning it at rate 10 rad/sec, it is non-sense value, however I'll try it in monday and see how it would behave. Paul On Sun, 23 Aug 2009, clarkwu wrote: > > Paul, thanks for your help. > I did download and test the keydrive program you kindly provide. > > Using the .cfg file I attached in previous post, when I run keydrive on my > P3DX robot with the original settings, i.e., turnrate=1 radium/second, no > jerks appeared; but after I changed the turnrate to 10 degrees/second, the > robot start to jerk after rotating about 180 degrees, which is exactly as > happened on my own test program. > > Could you help verify this? > > Now I keep wondering whether this is caused by some other safety setting > inside pioneer robot like the safety watch dog, or caused by message jam as > talked in the forum... > > clark > > > Paul Osmialowski wrote: >> >> On Sat, 22 Aug 2009, clarkwu wrote: >>> >>> Today I further tried adding robot.SetDataMode(PLAYER_DATAMODE_PULL) in >>> the >> datamode should not be an issue here. >> >> what about playerv? try also this >> http://king.net.pl/playercontrib/keydrive >> I have tested this with all my p2dx pioneers and roombas. It sets velocity >> using playerc API, if it works fine, something is wrong with playerc++ >> API, or with your client-side program. >> >> Paul >> >> > > -- > View this message in context: http://www.nabble.com/strange-jerky-motion-with-position2d.Setspeed%28%29-on-Pioneer-p3-dx-robot-tp25060161p25100993.html > Sent from the playerstage-users mailing list archive at Nabble.com. > > > ------------------------------------------------------------------------------ > Let Crystal Reports handle the reporting - Free Crystal Reports 2008 30-Day > trial. Simplify your report design, integration and deployment - and focus on > what you do best, core application coding. Discover what's new with > Crystal Reports now. http://p.sf.net/sfu/bobj-july > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users > |
From: clarkwu <wu....@gm...> - 2009-08-23 08:23:29
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Paul, Nope, the turnrate I did set is 10 degrees/sec (= 0.1745 rad/sec only), but not 10 radium/sec. clark Paul Osmialowski wrote: > > Ah that reminded me, years ago our pioneers were reconfigured to make them > able to move faster. I don't know now how it was before but yeah, > there was some kind of safety settings involved. > > But, I guess the reason is somewhere else. Keydrive turns robot with fixed > rate 1 rad/sec (57.3 deg/sec, see Player 2.x manual says: translational > velocities [m/s,m/s,rad/s] (x, y, yaw)) which is quite fast for the > Pioneer. I can't imagine turning it at rate 10 rad/sec, it is non-sense > value, however I'll try it in monday and see how it would behave. > > Paul > > On Sun, 23 Aug 2009, clarkwu wrote: > > -- View this message in context: http://www.nabble.com/strange-jerky-motion-with-position2d.Setspeed%28%29-on-Pioneer-p3-dx-robot-tp25060161p25101272.html Sent from the playerstage-users mailing list archive at Nabble.com. |
From: Paul O. <new...@ki...> - 2009-08-23 09:43:57
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Clark, Sorry I was reading too fast, as you put rad/sec and deg/sec in one sentence I didn't notice that at first. Tomorrow I'll check how it behaves with 0.174 rad/sec. Paul On Sun, 23 Aug 2009, clarkwu wrote: > > Paul, > > Nope, the turnrate I did set is 10 degrees/sec (= 0.1745 rad/sec only), but > not 10 radium/sec. > > clark > > > Paul Osmialowski wrote: >> >> Ah that reminded me, years ago our pioneers were reconfigured to make them >> able to move faster. I don't know now how it was before but yeah, >> there was some kind of safety settings involved. >> >> But, I guess the reason is somewhere else. Keydrive turns robot with fixed >> rate 1 rad/sec (57.3 deg/sec, see Player 2.x manual says: translational >> velocities [m/s,m/s,rad/s] (x, y, yaw)) which is quite fast for the >> Pioneer. I can't imagine turning it at rate 10 rad/sec, it is non-sense >> value, however I'll try it in monday and see how it would behave. >> >> Paul >> >> On Sun, 23 Aug 2009, clarkwu wrote: >> >> > > -- > View this message in context: http://www.nabble.com/strange-jerky-motion-with-position2d.Setspeed%28%29-on-Pioneer-p3-dx-robot-tp25060161p25101272.html > Sent from the playerstage-users mailing list archive at Nabble.com. > > > ------------------------------------------------------------------------------ > Let Crystal Reports handle the reporting - Free Crystal Reports 2008 30-Day > trial. Simplify your report design, integration and deployment - and focus on > what you do best, core application coding. Discover what's new with > Crystal Reports now. http://p.sf.net/sfu/bobj-july > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users > |
From: Paul O. <new...@ki...> - 2009-08-24 12:34:43
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Ok, I've made some tests on my P2DX differing turnrates (all rad/sec): 1. 0.174 and -0.174 - turns slowly, not jerking, not beeping 2. 0.1 and -0.1 - stalled, not beeping 3. 0.114 and -0.114 - turns even slower, not jerking, not beeping 4. 0.113 and -0.113 - stalled, not beeping Looks like there's a threshold around 0.114 under which it cannot move at all. These beeps on your Pioneer suggests something is wrong. On P2DX for example repeating beeps can be heard whenever battery power goes down below some threshold. Paul On Sun, 23 Aug 2009, Paul Osmialowski wrote: > Clark, > > Sorry I was reading too fast, as you put rad/sec and deg/sec in one > sentence I didn't notice that at first. Tomorrow I'll check how it behaves > with 0.174 rad/sec. > > Paul > > On Sun, 23 Aug 2009, clarkwu wrote: > >> >> Paul, >> >> Nope, the turnrate I did set is 10 degrees/sec (= 0.1745 rad/sec only), but >> not 10 radium/sec. >> >> clark >> >> >> Paul Osmialowski wrote: >>> >>> Ah that reminded me, years ago our pioneers were reconfigured to make them >>> able to move faster. I don't know now how it was before but yeah, >>> there was some kind of safety settings involved. >>> >>> But, I guess the reason is somewhere else. Keydrive turns robot with fixed >>> rate 1 rad/sec (57.3 deg/sec, see Player 2.x manual says: translational >>> velocities [m/s,m/s,rad/s] (x, y, yaw)) which is quite fast for the >>> Pioneer. I can't imagine turning it at rate 10 rad/sec, it is non-sense >>> value, however I'll try it in monday and see how it would behave. >>> >>> Paul >>> >>> On Sun, 23 Aug 2009, clarkwu wrote: >>> >>> >> >> -- >> View this message in context: http://www.nabble.com/strange-jerky-motion-with-position2d.Setspeed%28%29-on-Pioneer-p3-dx-robot-tp25060161p25101272.html >> Sent from the playerstage-users mailing list archive at Nabble.com. >> >> >> ------------------------------------------------------------------------------ >> Let Crystal Reports handle the reporting - Free Crystal Reports 2008 30-Day >> trial. Simplify your report design, integration and deployment - and focus on >> what you do best, core application coding. Discover what's new with >> Crystal Reports now. http://p.sf.net/sfu/bobj-july >> _______________________________________________ >> Playerstage-users mailing list >> Pla...@li... >> https://lists.sourceforge.net/lists/listinfo/playerstage-users >> > > ------------------------------------------------------------------------------ > Let Crystal Reports handle the reporting - Free Crystal Reports 2008 30-Day > trial. Simplify your report design, integration and deployment - and focus on > what you do best, core application coding. Discover what's new with > Crystal Reports now. http://p.sf.net/sfu/bobj-july > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users > |