g-paris / kawapai Goto Github PK

1st off, great work. Successfully connected to control motor power and brakes, struggling with the movement server.
In robot.py the wording at line 11,
Is that imply no movement server for when only in simulation for k-Roset? Or in general as well, when physically connected to the D+ controller?
Again for the great work thus far.

The current implementation seems to hardcode the maximum nr of joints (in JMOVEs fi) to 6.

Should the max nr be higher (say 10) to support robots with more than the standard 6? I'm primarily thinking about external axes here, such as rotary tables and linear tracks.

The JOINT_POSITION and JOINT_TRAJ_PT msg types could be extended to always include data for 10 joints, with the robot controller ignoring the joints it doesn't have for incoming JOINT_TRAJ_PTs and setting them to 0 in JOINT_POSITION.

Thank you for reply my issue under khi_robot project.#Kawasaki-Robotics/khi_robot#48 As we talk before, I learned this project and know how you handle the trajectory now.
I know what you mean by "Kawasaki's CP (Continuous path) motion", and it's the same way that I handle the trajectory data with you : send the path and execute them in order, while at the last point insert a "break" statement.And actually there still has a little stop between every two point.
For example:

POINT #test_point[0] = #PPOINT(90, 0, -90, 0, -90, 0)
POINT #test_point[1] = #PPOINT(75, 0, -90, 0, -90, 0)
POINT #test_point[2] = #PPOINT(60, 0, -90, 0, -90, 0)
POINT #test_point[3] = #PPOINT(45, 0, -90, 0, -90, 0)
POINT #test_point[4] = #PPOINT(30, 0, -90, 0, -90, 0)
POINT #test_point[5] = #PPOINT(15, 0, -90, 0, -90, 0)
POINT #test_point[6] = #PPOINT( 0, 0, -90, 0, -90, 0)
JMOVE #test_point[0]
JMOVE #test_point[1]
JMOVE #test_point[2]
JMOVE #test_point[3]
JMOVE #test_point[4]
JMOVE #test_point[5]
JMOVE #test_point[6]

Loop execute this program, between #test_point[0] and #test_point[1], there is a little stop, even if I increase ACCURACY from 10 to 100, the stop will become not significant but still has.Same in other motion step.The motion is different from 0->1->2->3->4->5->6 and 6->0.This is so called "CP motion 2" in AS-language manual.

But in our program, there is a little difference when execute motion,it more like:
FOR index = 0 TO 10
JMOVE #test_point[index]
END

There is a "END" statement after every JMOVE, at this time, even I increase the ACCURACY parameter, the stop is still significant.This is so called "Standard CP motion" in AS-language manual.

So I wonder why the video clip Tetrisrobot is so fluid.

I don't know whether I describe the question clearly, I can send you videos if you need.