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Thread: Project

  1. #11
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    Re: Project

    Quote Originally Posted by jwatte View Post
    I love the Teensy! Do you make that talk to the Dynamixel bus as well, or is that some other interface?

    Also, the kinematics could conceivably actually run on the Teensy itself? It's a pretty capable board.
    Ditto all this! I have the Dynamixel I/O driven by the Teensy 3.2 using its DMA capabilities, which really off-loads the processor. For messages where I don't expect a response from the servos I get one interrupt at the end of the message; where I expect a reply I get three. I used a 74AHC125 to handle the half-duplex aspects and provide more drive current than the Teensy itself can provide.

  2. #12

    Re: Project

    I think especially the inverse kinematics are rather heavy on the processor
    Yes, there is some math in that! I solve four legs for the Onyx walker in about a millisecond on a Teensy 3.1.

    Here's hoping the next version with FPU will show up at some point

  3. #13

    Re: Project

    Quote Originally Posted by jwatte View Post
    Yes, there is some math in that! I solve four legs for the Onyx walker in about a millisecond on a Teensy 3.1.

    Here's hoping the next version with FPU will show up at some point
    Working on it! :lol:

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