Testing motor and code

[ploopj]

Hello,

I have been having trouble trying to run and test the code for this project and I am currently running on 24.04 LTS version of Ubuntu. When setting up software dependencies I have followed these steps .

• - Clone this repo

git clone https://github.com/hrc2/blossom-public/

• -Download miniconda in order to run Python 3.5.2

wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh
bash Miniconda3-latest-Linux-x86_64.sh

• Create an environment using conda and activate it.

conda create -n blossom_env python=3.5.2 -c conda-forge -y
conda activate blossom_env

• Install the dependencies
  pip install -r requirements.txt

Calibrate motors

I am using a computer connected to U2D2, USB pigtail connected to the power source, and Dynamixel XL-320motors connected to the U2D2 and USB pigtail
Following
https://docs.google.com/presentation/d/1g5RqoF_3xt6z6RvbIo_sDCCCWvMbcokz0HMdGt5Rlj0/edit?slide=id.g305fe607743_0_0#slide=id.g305fe607743_0_0

and also

To calibrate your motors using the motor_calib.py script:

1. Connect everything (U2D2 to computer, USB to power source, motor to U2D2 and USB)

2. Make sure the Conda environment is activated:

   conda activate blossom_env

3. Run the script:

   python motor_calib.py

If you see an error like:

Error: could not open port. You may need to run sudo chmod 777 /dev/ttyACM0

Run the following to grant access:

sudo chmod 777 /dev/ttyACM0

Replace /dev/ttyACM0 with your actual device name (e.g. /dev/ttyUSB0). You can find it using:

ls /dev/tty*

Please help point out the issue!

TLDR: Unable to run motor_calib.py, is it problem with python or wiring.

[ploopj]

Wiring

[umhan35]

Hi @KanaHayama @a-oconnell @HaaaO. Sorry for tagging you. We are rebuilding the Blossom of this fork at the University of South Florida. We are stuck at the calibration step. Any help would be greatly appreciated!

[a-oconnell]

Hi folks! The picture of your setup looks like the one we use. Did you try plugging the USB power cable into the 5V/2.4A port on the power strip with the setup in the first picture?

You could try to connect to the motors using the Dynamixel Wizard tool. If you can connect through the Wizard, the cable is working correctly.

[ploopj]

Hi @a-oconnell we were able to solve the problem using the Dynamixel Wizard tool, we just had issues regarding the connections. Thank you for the help!