Releases · CCGSRobotics/RoboHUD

01 Dec 13:31

v1.4.0

0743d8c

Basic Movement Classes Pre-release

Pre-release

As the pieces slowly fall into place, more tangible progress is being made! There are now two abstract movement classes: Dynamixel and Robot. Both are fairly self-explanatory:

A Dynamixel represents a single servo on the robot, and contains information about its protocol, id & current values as well as providing functions to move it
A Robot is a group of servos, containing a Dynamixel object for each servo as well as functions to move them as a group

With this code, it becomes fairly trivial to start moving the robot around on the terrain. However, more improvements must be made to the code base before we arrive at that stage.

Assets 2

01 Dec 13:21

Finchiedev

v1.3.0

4fb6560

Remote Dynamixel Wizard Pre-release

Pre-release

One of the main upsides of the modular server is the ability to read and write to any item in the control table with relative ease. As outlined previously, one of the main goals of the redesigned RoboHUD was the ability to have a remote version of Robotis' handy Dynamixel Wizard, for use in debugging the robot without having to directly plug the servo into a laptop.

The current version of this tool outlines a list of items in the control table, allowing for modification of writable values. As always, this is a massive work in progress, so stay tuned for updates!

Assets 2

01 Dec 13:16

Finchiedev

v1.2.0

258b3cb

Dynamixel Parser Pre-release

Pre-release

In version v1.1.0, the CSV based Dynamixel server was released, with support for CSV files but no tool generate those files. This release brings a new page to the GUI, in which the client simply inputs an eManual URL for the Dynamixel, where it is converted into a CSV and sent off to a fileserver running on the server.

As this tool matures, support will be added for irregular cases that occasionally appear in the documentation, such as empty lines or min/max values.

Assets 2

01 Dec 13:12

Finchiedev

v1.1.0

02399ff

Server Refactor Pre-release

Pre-release

This refactoring is the first step in creating a more modular GUI. The server has been completely redesigned, now with a focus on general usage rather than on a per-servo basis.

Instead of writing to a specific address that only a handful of Dynamixels share, the server now supports CSV files that contain a servo's entire control table. This means that it can be re-used with (in theory) any Dynamixel servo, without any server-side code modification.

Additionally, the server now supports specific commands, such as:

Initialisation
Mode changing
Value read/write

Of course, the old driving commands (ID-SPEED for wheels & ID-POSITION-SPEED for joints) are still supported.

This server does not currently have any usage, but once fully taken advantage of by the client should be able to support a modular system comprising of many different Dynamixel servos running either protocols.

Assets 2

13 Aug 13:46

Finchiedev

v1.0.0

2a5a4d1

RoboCup 2019 Final Code! Latest

Latest

This code was successfully used to drive the robot during the finals in Sydney during RoboCup 2019! v2.0.0 is slated to be released (hopefully) during the first few months of 2020, in preparation for RoboCup 2020. This development cycle we will be looking to:

Completely re-design the server & client with a focus on modular design
Add more linting & other code quality checks
Expand the documentation of the code through automated systems & manual input

If you want to see something added, please follow the instructions available on our README to propose a new feature, or any other issue you have with the code!

Assets 2

23 Jun 17:05

Finchiedev

v0.9.0

a125a8d

MX-28 Servo upgrade Pre-release

Pre-release

The GUI now fully supports the MX-28 servos, using the new Server-Code-2019 directory! Multiple kinds of servos are now able to be daisy-chained and run in parallel. This is a major step towards having a fully operational robot driving with all of the new features such as: