I’ve got a new Kaya build assembled and a workstation up and running. The stereo dummy app worked, so I moved on to the joystick app and immediately encountered issues. I have modified the kaya_hardware.subgraph.json according to the XC430 + U2D2 interchangeability section.
This is appearing in the logging output over and over again. In the Dynamixel Wizard I could confirm that the motors are moving so I think it’s a configuration issue. Any help would be much appreciated. I want to get this thing moving!
Ok, this is what I can tell is happening so far. The error for register 23 is because it is trying to read 4 bytes from the ram table at position 128, which is the value for Present Velocity(aka CURRENT_SPEED in the kaya driver). The Dynamixel error (-3001) is COMM_RX_TIMEOUT := -3001 Status of Receive packet in the ::dynamixel::PacketHandler::getPacketHandler (https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/api_reference/cpp/cpp_packethandler/).
In the Dynamixel Wizard though I can query that location and get 0 when stationary and a value when moving the wheel, so I know it’s not the motor. I have no clue how to troubleshoot the connectivity issue though.
Did you modify the kaya_hardware.subgraph.json file to have it look like this? I ask because I was able to get my servos moving in joystick (although the robot continuously spins at the start, but after manipulating the joysticks it allows me to control it properly). However, the “Error while reading register 23” and the Dynamixel error (-3001) are still continuously showing up the entire time.
Additionally, when I do follow_me app, the robot just continuously spins (it will not engage in autonomous and I also continuously have the error messages always showing up.