Skip to content

WIP animations #163

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
danic85 wants to merge 11 commits into
base: develop
Choose a base branch
from
Open

WIP animations #163

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
11 commits
Select commit Hold shift + click to select a range
b2b2cc0
WIP animations
danic85 Apr 20, 2026
836fa44
Fix bus servo moving-state mismatch handling
Copilot Apr 20, 2026
b33eda1
Strengthen bus_servo warning assertion in tests
Copilot Apr 20, 2026
b0749b9
Assert no warning when servo is within tolerance
Copilot Apr 20, 2026
5d4c8f3
Share bus port handler across servos and serialize SDK access
Copilot Apr 20, 2026
586c158
Harden shared port refcount close and SC center error handling
Copilot Apr 20, 2026
0a600b5
WIP
danic85 Apr 20, 2026
0ad20ef
Merge branch 'feature/leg_animations' of https://github.com/makerforg…
danic85 Apr 20, 2026
2facb72
Revert accidental WIP regressions blocking bus servo operation
Copilot Apr 20, 2026
58148a4
Fix bus servo comm timeouts while preserving deliberate speed and mis…
Copilot Apr 20, 2026
a33efa1
Stabilize bus servo comms with retry logic while keeping deliberate s…
Copilot Apr 20, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
68 changes: 31 additions & 37 deletions environments/cody.yml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -20,47 +20,46 @@ bus_servo:
enabled: true
config:
poses:
- legs_forward: {'leg_r_tilt': 2806, 'leg_r_hip': 1989, 'leg_r_knee': 1349, 'leg_r_ankle': 2754, 'neck_pan': 1698, 'neck_tilt': 118, 'leg_l_tilt': 1619, 'leg_l_hip': 1028, 'leg_l_knee': 2634, 'leg_l_ankle': 1567}
- sit: {'leg_r_tilt': 2806, 'leg_r_hip': 2063, 'leg_r_knee': 1840, 'leg_r_ankle': 3641, 'neck_pan': 1697, 'neck_tilt': 118, 'leg_l_tilt': 1621, 'leg_l_hip': 853, 'leg_l_knee': 2161, 'leg_l_ankle': 614}
- wave_1: {'leg_r_tilt': 2809, 'leg_r_hip': 2063, 'leg_r_knee': 1840, 'leg_r_ankle': 3641, 'neck_pan': 1697, 'neck_tilt': 118, 'leg_l_tilt': 1618, 'leg_l_hip': 855, 'leg_l_knee': 2614, 'leg_l_ankle': 1337}
- wave_2: {'leg_r_tilt': 2807, 'leg_r_hip': 2063, 'leg_r_knee': 1840, 'leg_r_ankle': 3641, 'neck_pan': 1697, 'neck_tilt': 118, 'leg_l_tilt': 1618, 'leg_l_hip': 855, 'leg_l_knee': 2614, 'leg_l_ankle': 874}
- stand_low: {'leg_r_tilt': 2790, 'leg_r_hip': 422, 'leg_r_knee': 717, 'leg_r_ankle': 3174, 'neck_pan': 1697, 'neck_tilt': 119, 'leg_l_tilt': 1578, 'leg_l_hip': 2668, 'leg_l_knee': 3342, 'leg_l_ankle': 1107}
- stand_high: {'leg_r_tilt': 2790, 'leg_r_hip': 692, 'leg_r_knee': 1322, 'leg_r_ankle': 2861, 'neck_pan': 1700, 'neck_tilt': 123, 'leg_l_tilt': 1578, 'leg_l_hip': 2510, 'leg_l_knee': 2712, 'leg_l_ankle': 1560}
- sit_edge: {'leg_r_tilt': 2790, 'leg_r_hip': 1918, 'leg_r_knee': 2768, 'leg_r_ankle': 2854, 'neck_pan': 1704, 'neck_tilt': 124, 'leg_l_tilt': 1577, 'leg_l_hip': 1183, 'leg_l_knee': 1332, 'leg_l_ankle': 1562}
- sit_edge_swing_l: {'leg_r_tilt': 2790, 'leg_r_hip': 1918, 'leg_r_knee': 2768, 'leg_r_ankle': 2854, 'neck_pan': 1704, 'neck_tilt': 124, 'leg_l_tilt': 1577, 'leg_l_hip': 1185, 'leg_l_knee': 1789, 'leg_l_ankle': 1988}
- sit_edge_swing_r: {'leg_r_tilt': 2790, 'leg_r_hip': 1918, 'leg_r_knee': 2222, 'leg_r_ankle': 2496, 'neck_pan': 1704, 'neck_tilt': 124, 'leg_l_tilt': 1577, 'leg_l_hip': 1182, 'leg_l_knee': 1345, 'leg_l_ankle': 1511}
- storage: {'leg_r_tilt': 2784, 'leg_r_hip': 1006, 'leg_r_knee': 772, 'leg_r_ankle': 2991, 'neck_pan': 1708, 'neck_tilt': 121, 'leg_l_tilt': 1601, 'leg_l_hip': 3108, 'leg_l_knee': 3258, 'leg_l_ankle': 1286}
- legs_forward: {'leg_r_tilt': 2784, 'leg_r_hip': 1005, 'leg_r_knee': 1998, 'leg_r_ankle': 2351, 'neck_pan': 1710, 'neck_tilt': 121, 'leg_l_tilt': 1606, 'leg_l_hip': 3099, 'leg_l_knee': 2107, 'leg_l_ankle': 1865}
- sit: {'leg_r_tilt': 2784, 'leg_r_hip': 866, 'leg_r_knee': 2042, 'leg_r_ankle': 3396, 'neck_pan': 1711, 'neck_tilt': 121, 'leg_l_tilt': 1597, 'leg_l_hip': 3229, 'leg_l_knee': 2095, 'leg_l_ankle': 698}
- wave_1: {'leg_r_tilt': 2785, 'leg_r_hip': 857, 'leg_r_knee': 2037, 'leg_r_ankle': 3396, 'neck_pan': 1710, 'neck_tilt': 121, 'leg_l_tilt': 1599, 'leg_l_hip': 3131, 'leg_l_knee': 2626, 'leg_l_ankle': 1371}
- wave_2: {'leg_r_tilt': 2785, 'leg_r_hip': 857, 'leg_r_knee': 2037, 'leg_r_ankle': 3396, 'neck_pan': 1710, 'neck_tilt': 121, 'leg_l_tilt': 1599, 'leg_l_hip': 3131, 'leg_l_knee': 2626, 'leg_l_ankle': 701}
- stand_straight: {'leg_r_tilt': 2735, 'leg_r_hip': 1968, 'leg_r_knee': 2029, 'leg_r_ankle': 2353, 'neck_pan': 1711, 'neck_tilt': 121, 'leg_l_tilt': 1596, 'leg_l_hip': 2087, 'leg_l_knee': 2075, 'leg_l_ankle': 1799}
- stand_low: {'leg_r_tilt': 2728, 'leg_r_hip': 2910, 'leg_r_knee': 593, 'leg_r_ankle': 2922, 'neck_pan': 1712, 'neck_tilt': 116, 'leg_l_tilt': 1604, 'leg_l_hip': 1374, 'leg_l_knee': 3477, 'leg_l_ankle': 1136}
- stand_high: {'leg_r_tilt': 2687, 'leg_r_hip': 2547, 'leg_r_knee': 1080, 'leg_r_ankle': 2753, 'neck_pan': 1711, 'neck_tilt': 116, 'leg_l_tilt': 1595, 'leg_l_hip': 1536, 'leg_l_knee': 2976, 'leg_l_ankle': 1522}
- sit_edge: {'leg_r_tilt': 2784, 'leg_r_hip': 985, 'leg_r_knee': 2897, 'leg_r_ankle': 2816, 'neck_pan': 1711, 'neck_tilt': 121, 'leg_l_tilt': 1606, 'leg_l_hip': 3072, 'leg_l_knee': 1431, 'leg_l_ankle': 1161}
- sit_edge_swing_l: {'leg_r_tilt': 2784, 'leg_r_hip': 985, 'leg_r_knee': 2897, 'leg_r_ankle': 2816, 'neck_pan': 1709, 'neck_tilt': 121, 'leg_l_tilt': 1606, 'leg_l_hip': 3071, 'leg_l_knee': 1928, 'leg_l_ankle': 1154}
- sit_edge_swing_r: {'leg_r_tilt': 2783, 'leg_r_hip': 986, 'leg_r_knee': 2028, 'leg_r_ankle': 2633, 'neck_pan': 1709, 'neck_tilt': 121, 'leg_l_tilt': 1606, 'leg_l_hip': 3072, 'leg_l_knee': 1326, 'leg_l_ankle': 1161}
- legs_straight_out: {'leg_r_tilt': 3696, 'leg_r_hip': 2066, 'leg_r_knee': 1904, 'leg_r_ankle': 2777, 'neck_pan': 1713, 'neck_tilt': 116, 'leg_l_tilt': 599, 'leg_l_hip': 2103, 'leg_l_knee': 2285, 'leg_l_ankle': 1140}
- crab: {'leg_r_tilt': 3695, 'leg_r_hip': 1046, 'leg_r_knee': 1451, 'leg_r_ankle': 2745, 'neck_pan': 1712, 'neck_tilt': 116, 'leg_l_tilt': 599, 'leg_l_hip': 2930, 'leg_l_knee': 2855, 'leg_l_ankle': 1230}
instances:
- name: "leg_r_tilt"
model: 'ST3215'
id: 1
range: [2511, 3944] # 1433 total range (4095 = 360 degrees)
range_degrees: 125.9
start: 2810
# calibrate_on_boot: true
range: [2352, 3749]
# start: 2791
- name: "leg_r_hip"
model: 'ST3215'
id: 3
range: [0, 2063]
range_degrees: 181.3
range: [615, 3423]
# center_on_boot: true
# calibrate_on_boot: true
# start: 1688
# start: 977
- name: "leg_r_knee"
model: 'ST3215'
id: 2
range: [717, 3297]
range_degrees: 226.2
# start: 1345
range: [626, 3384]
# start: 1999
- name: "leg_r_ankle"
model: 'ST3215'
id: 6
range: [2459, 3872]
range_degrees: 123.7
# start: 2762
range: [1123, 3638]
# start: 2351
- name: "neck_pan"
model: 'ST3215'
id: 12
range: [0, 3412] # 300 degrees = 3412, 360 degrees = 4095
range_degrees: 299.7
start: 1706
# calibrate_on_boot: true
# demonstrate_on_boot: true
Expand All @@ -69,7 +68,6 @@ bus_servo:
# baudrate: 115200
# id: 4
# range: [0, 1023]
# range_degrees: 300
# start: 511
# calibrate_on_boot: true
# demonstrate_on_boot: true
Expand All @@ -79,7 +77,6 @@ bus_servo:
baudrate: 115200
id: 11
range: [30, 220]
range_degrees: 55.6
start: 120
speed: 60 # max=0, 1 - 3000 tested
# acceleration: 0 # max (no significant difference between this and 1 - 3000)
Expand All @@ -97,27 +94,24 @@ bus_servo:
model: 'ST3215'
id: 7
range: [8, 1796] # 1788 total range (4095 = 360 degrees)
range_degrees: 156.9
start: 1617
# calibrate_on_boot: true
# start: 1607
- name: "leg_l_hip"
model: 'ST3215'
id: 8
range: [853, 3098]
range_degrees: 197.3
# start: 2451
range: [615, 3423]
# center_on_boot: true
# calibrate_on_boot: true
# start: 977
- name: "leg_l_knee"
model: 'ST3215'
id: 9
range: [1332, 3404]
range_degrees: 181.1
# start: 2643
range: [684, 3471]
# start: 2106
- name: "leg_l_ankle"
model: 'ST3215'
id: 10
range: [614, 2270]
range_degrees: 145.2
# start: 1566
range: [520, 3059]
# start: 1856
# demonstrate_on_boot: true

chatgpt:
Expand Down
Loading