[robocup-msrs] Movent is not ending.

[Jackson Paul Matsuura]

Updating the problem:

After sucessfull doing the 

(0, 0, 0)
(0, 0, 0)
(60, -60, 0)
(0, 0, 0)

Movent from a Jackie Chan Position (as explained in the last e-mail), if you
command the same movement again it do not "stop", i.e. the isMoving continue
true and the Robot is stucked. And the leg is already in the position.
Can someone explain it to me?

Please add the following code to the
legmvt0.xml
file (it is in the 
\Microsoft Robotics Studio 1.5 (CTP May 2007)\store 
directory)

    <RobuLegMouvement>
      <name>TEST1a</name>
      <Mouvements>
        <SerialManipulatorControlRequest>
          <Controls xmlns="http://www.robosoft.fr/2006/11/serialmanipulator.html">
            <JointControl>
              <Mode>Position</Mode>
              <Target>0.5</Target>
              <Reached>false</Reached>
            </JointControl>
            <JointControl>
              <Mode>Position</Mode>
              <Target>-0.5</Target>
              <Reached>false</Reached>
            </JointControl>
            <JointControl>
              <Mode>Position</Mode>
              <Target>0</Target>
              <Reached>false</Reached>
            </JointControl>
          </Controls>
        </SerialManipulatorControlRequest>
      </Mouvements>
    </RobuLegMouvement>


    <RobuLegMouvement>
      <name>TEST2a</name>
      <Mouvements>
        <SerialManipulatorControlRequest>
          <Controls xmlns="http://www.robosoft.fr/2006/11/serialmanipulator.html">
            <JointControl>
              <Mode>Position</Mode>
              <Target>0.75</Target>
              <Reached>false</Reached>
            </JointControl>
            <JointControl>
              <Mode>Position</Mode>
              <Target>-.75</Target>
              <Reached>false</Reached>
            </JointControl>
            <JointControl>
              <Mode>Position</Mode>
              <Target>0</Target>
              <Reached>false</Reached>
            </JointControl>
          </Controls>
        </SerialManipulatorControlRequest>
      </Mouvements>
    </RobuLegMouvement>

Just add this after a     </RobuLegMouvement> and/or before a     
<RobuLegMouvement>

Also add the follow to the
dogmvt0.xml
file (at the same dir)

    <DogMouvement>
      <Name>TEST1</Name>
      <motion>
        <SingleMouvement>
          <mouv>
            <string>LegZero</string>
            <string>LegZero</string>
            <string>TEST1a</string>
            <string>LegZero</string>
          </mouv>
        </SingleMouvement>
      </motion>
    </DogMouvement>


    <DogMouvement>
      <Name>TEST2</Name>
      <motion>
        <SingleMouvement>
          <mouv>
            <string>LegZero</string>
            <string>LegZero</string>
            <string>TEST2a</string>
            <string>LegZero</string>
          </mouv>
        </SingleMouvement>
      </motion>
    </DogMouvement>

just add this after a     </DogMouvement> and/or before a     <DogMouvement>

And now, do the following with the userInterface.

First command a TEST1 movement. It should be done without problem.
Than try a TEST2 movement. And the RobuDog will stuck.

Stop the RobuDog and do a Jackie Chan movement, and try the TEST2 movement
again, and it will work. But if you try a TEST2 again (even with the joints
already in the position) the Robudog will stuck.

Stop the Robudog and try a TEST1 and another TEST1, and another and another...
it will work well.

If you do Jackie Chan + TEST2 + Jackie Chan + TEST2 + ... sequences you will
not have problems too.

But if you do a TEST2 after a sucessfull TEST2, it will not work.

But I do not want to do a Jackie Chan every time I need to do a TEST2 movement
:-).

And I`m really afraid of other movents having the same problem...

Thanks for the attention

Jackson



On Mon, 2 Jul 2007 20:30:01 -0300, Jackson Paul Matsuura wrote
> Hello veryone, hello Nicolas
> 
> I`m still having problems with 2 joint movements.
> 
> I will try to explain better my problem.
> 
> I`m tring to put the left back leg of the RobuDog in the (90 degrees,
>  - 90 degrees, 0 degrees) position. To tell the true I want to do 
> more thing, but this is a good example.
> 
> This position is not blocked, it is just raise the left back leg and 
> turn it.
> 
> The (90, 0, 0) movement is done well, and also the (0, -90, 0), so 
> the joints can reach the desired angles individually.
> 
> I also was able to have a (30, -30, 0) position, but when I try (45, 
> -45, 0) or (60, -60, 0) the RobuDog just not end the movement. They 
> appear to reach the position with (45, -45, 0), (60, -60, 0) and (90,
>  -90, 0), but the isMoving continue true. (remembering tha I`m 
> moving just the left back leg, the other three are in the "zero" leg 
> position.
> 
> I`m guessing that it is some problem with the function that checks 
> if the "servos" reached the desired angles.
> 
> Another strange thing, if I do the:
> 
> (0, 0, 0)
> (0, 0, 0)
> (60, -60, 0)
> (0, 0, 0)
> 
> Movement from the JackieChan movement, i.e. if the Robot is at the 
> floor and then do the movent it is able to complete it. But if he 
> start this movement from the "zero" position, the problem appears. 
> I`m afraid that this should happen with other movements that I`m 
> doing, so I would like any help.
> 
> And I really need specific movement for my team...
> 
> Thanks
> Jackson
> Brasil-MC
> 
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