Acceleration implementation on OpenCM?

[jomo]

Hi there
I can't seem to get acceleration/deceleration using the apparently available GOAL_ACCELERATION function (control adress 73 on the MX 28AR).
I'm using Open CM 1.0.2 IDE on a Mac and the OpenCM9.04 board together with the 485EXP extension board.
The Dynamixel turns at the specified speed but no acceleration and decelleration.
The documentation is a bit sparse for my liking - I need everything spelled out so I'm not sure if I have the correct parameters in the correct order.
I adapted an example to test the acceleration function - could someone look at it to tell me what I'm doing wrong?
Thanks!
jomo

/* Dynamixel setPosition Example

 Turns left the dynamixel , then turn right for one second,
 repeatedly with different velocity.
 
               Compatibility
 CM900                  O
 OpenCM9.04             O
 
                Dynamixel Compatibility
               AX     MX      RX    XL-320    Pro
 CM900          O      O      O        O      X
 OpenCM9.04     O      O      O        O      X
 **** OpenCM 485 EXP board is needed to use 4 pin Dynamixel and Pro Series **** 
 
 created 16 Nov 2012
 by ROBOTIS CO,.LTD.
*/
//Adapted by Jomo from example software
/* Serial device defines for dxl bus */
#define DXL_BUS_SERIAL1 1  //Dynamixel on Serial1(USART1)  <-OpenCM9.04
#define DXL_BUS_SERIAL2 2  //Dynamixel on Serial2(USART2)  <-LN101,BT210
#define DXL_BUS_SERIAL3 3  //Dynamixel on Serial3(USART3)  <-OpenCM 485EXP
/* Dynamixel ID definitions */
#define Feet 1             //ID 1 for rotation of Feet
#define Waist 2            // ID 2 for rotation of Waist

#define GOAL_POSITION 30    // 30 is Goal Position control address
#define MOVING 46           // 46 is moving control adress
#define GOAL_ACCEL 73       // 73 is goal acceleration control address

Dynamixel Dxl(DXL_BUS_SERIAL3);    // We use this port because we're on the 485EXP board
///////////////////////////////////////////////////////////////////////////////////////
//VARIABLES
byte isMoving = 0;
int goalPosition = 0;
///////////////////////////////////////////////////////////////////////////////////////

void setup() {
  
  Dxl.begin(3);              // Dynamixel 2.0 Baudrate -> 0: 9600, 1: 57600, 2: 115200, 3: 1Mbps 
  SerialUSB.begin();         // Open the serial USB port for debugging messages
  
  // All Dynamixels are used in the joint mode
  
  Dxl.jointMode(Feet);       //jointMode() is to use position mode
  Dxl.jointMode(Waist);
}

///////////////////////////////////////////////////////////////////////////////////////

void loop() {
  isMoving = Dxl.readByte(Feet, MOVING);  // Check if Feet are still moving
  if(isMoving == 0){
    Dxl.writeWord(Feet, GOAL_ACCEL, 10);
    Dxl.writeWord(Feet, GOAL_POSITION, goalPosition);
     //toggle the position if goalPosition is 1000, set to 0, if 0, set to 1000
    if(goalPosition == 4000)
      goalPosition = 0;
    else
      goalPosition = 4000;
  }     
}

[jomo]

Hi there
I finally figured out how to obtain acceleration/decelleration ramps in OpenCM using the GOAL_ACCELERATION control.
I was trying to get it to apply to GOAL_POSITION but that control doesn't have a velocity parameter so the servo runs at full speed. From my trials - if the motor is running full speed then there's no accel ramp.
If you use a different method - I tried this code and it works perfectly.

Dxl.setPosition(ID, Position, Velocity);
Dxl.writeByte(ID, GOAL_ACCELERATION, Value);

It doesn't work if the velocity is set to it's maximum value.
Great news for me as I was working on a software routine to calculate and implement the acceleration/deceleration ramps...
Cheers

[_ADAM_]

Does it work with any other value other than max? Thanks for posting about it, might save me some headache.

Why are you using acceleration? Just to make the movements look more realistic?

[jomo]

I think you misread me there - it does NOT work with maximum velocity - all other values work fine so you can choose from 1 to 1023.
The lower the value chosen for GOAL_ACCELERATION the longer the ramp it produces so between these 2 parameters there's plenty of scope for adjusting things to your needs.
I need to use acceleration for several reasons:
Realistic movements (it's for a moving space suit automatum)
Lower wear on the gears
Less noise
The acceleration ramps iron out a lot if inertia related problems

[_ADAM_]

I didn't misread, but thanks for the clarification and explanation. It sounds like a great idea, and I will have to implement acceleration as well.