Re: Segway: queue overflow

> I think it has to do with the change from mm/sec and deg/sec to
> m/sec
> and rad/sec in the following way:
>
> -In the old code, using int(s) to pass the data was fine since you
> were dealing with large values (ie. 200 mm/sec or 20 deg/sec), now
> however you are passing meters/sec and rad/sec, so the same
> command
> would yeild doubles of 0.200 m/sec and .349 rad/sec, which as
> integers
> are 0.  Therefore, we have to set our commanded values above 1.0
> m/s
> and 1.0 rad/sec for the integers to show up as non-zero (or
> perhaps
> greater than .5) .  I was actually about to check this and then
> saw
> this email.  I will let you know what I find.
>
> -Brandon
>
>
> ----- Original Message -----
> From: Toby Collett <tcollett+player@...>
> Date: Wednesday, July 19, 2006 2:46 pm
> Subject: Re: [Playerstage-users] Segway: queue overflow
>
> > nothing comes to mind immediately apart from checking over any
> > conversions that may still be lurking in there. Also check that
> > int's
> > are being used where floats/doubles should as it could be doing
> > some
> > rounding to 0 somewhere.
> >
> > Toby
> >
> > Brandon Sights wrote:
> > > Toby,
> > >
> > > We added ProcessMessage in the Main loop and also changed the
> > > multiplying constants from MM_S to M_S and from DEG_S to RAD_S
> > (Player
> > > 1.6 sent commands in mm/s and deg/s, 2.0 sends in m/s and
> rad/s)
> > in
> > > the MakeVelocityCommand (or something like that) function.  
> > After
> > > doing that we were able to get the robot to move and turn, but
> > only
> > > above certain speeds and turnspeeds.  For instance, we have to
> > send at
> > > least a 100 deg/s turnspeed to get it to turn and a >1 m/s
> > > translational speed to get it to drive.  Any clue as to why
> that
> > is
> > > true?
> > >
> > > Just for clarification, Sparta is working in the same lab as
> myself.
> > >
> > > Thank you,
> > > Brandon Sights
> > > sights@...
> > >
> > >
> > >
> > > ----- Original Message -----
> > > From: Toby Collett <toby@...>
> > > Date: Tuesday, July 18, 2006 3:32 pm
> > > Subject: Re: [Playerstage-users] Segway: queue overflow
> > >
> > >  
> > >> I should really finish what im doing before posting emails....
> > >>
> > >> I had a better look at the source and the driver was not
> > calling
> > >> ProcessMessages in its main thread. I have added this to CVS
> > now,
> > >> im not
> > >> sure what the delay is like for anonymous CVS at the moment,
> > but
> > >> all you
> > >> need to do is add a ProcessMessages() near the start of the
> for
> > >> (;;)
> > >> loop in the main thread, about line 325.
> > >>
> > >> Toby
> > >>
> > >> Toby Collett wrote:
> > >>    
> > >>> Just had a quick look at the source, definitely a few
> comments
> > >>>      
> > >> of *TODO*
> > >>    
> > >>> in there still, but it appears the position geometry request
> > >>>      
> > >> should be
> > >>    
> > >>> handled okay so its probably not that...
> > >>>
> > >>> what messages are appearing on the server end?
> > >>>
> > >>> also try just subscribing to the power interface on the RMP,
> > >>>      
> > >> this is one
> > >>    
> > >>> of the simplest interfaces and will allow you to check out
> the
> > >>>      
> > >> basics of
> > >>    
> > >>> the driver without extra complications...
> > >>>
> > >>>
> > >>> Toby
> > >>>
> > >>> Sparta wrote:
> > >>>  
> > >>>      
> > >>>> As soon as I hit subscribe to position2d on playerv,
> playerv
> > >>>>        
> > >> freezes.  I know
> > >>    
> > >>>> that playerjoy works fine when I test it on other things.  
> It
> > >>>>        
> > >> seems to be
> > >>    
> > >>>> the segwayrmp driver, but I'm not sure what about it is
> > causing
> > >>>>        
> > >> this to
> > >>    
> > >>>> happen.
> > >>>>
> > >>>> Sparta
> > >>>>  
> > >>>>    
> > >>>>        
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