CMUCam Servos not Responding on Robot

[krigby]

Well, We've read the code inside and out. We've read every thread, dealt with power issues, calibrated it in LabView, and have finally gotten it to recognize the target on the robot using the RC. However, we can't get the servos to move. We have loaded the no frills camera.hex file. In the terminal window it shows the processor commanding the servos but they won't move. We have them connected to the default PMW sources PMW1 and PMW2. Any ideas.

Kevin - Team 1734

Kevin Rigby

[Denz]

Maybe you need to switch power mode to external servo power? Backup battery fully charged? Those are just some suggestions.

[kaszeta]

Basic questions:

1. You've got both leds on the camera lit up?
2. You've tested the serial link between camera and bot?
3. If you manually turn the camera, does it report seeing the light?
4. Have you plugged in your backup battery to actually power the servos (unlikely to be the problem if the camera is powered, since both get their power from the same place)

[billbo911]

Originally Posted by krigby

Well, We've read the code inside and out. We've read every thread, dealt with power issues, calibrated it in LabView, and have finally gotten it to recognize the target on the robot using the RC. However, we can't get the servos to move. We have loaded the no frills camera.hex file. In the terminal window it shows the processor commanding the servos but they won't move. We have them connected to the default PMW sources PMW1 and PMW2. Any ideas.

Kevin - Team 1734

Kevin Rigby

I have an idea, but it will take some explaining. I posted this information already once today in this thread, but so far no reply. If you did follow Kevin's instructions exactly, then you copied the camera, tracking, terminal and serial port .c and .h files into a copy of the default code. You also will have edited the appropriate files with the corresponding # include statements. So far so good. But, did you notice that in Kevin's code, he had commented out the user_routines.c/Default_Routine call. This would prevent mapping of the PWM 1 & 2 to their corresponding joystick inputs. Well... if you did follow Kevin's instructions, then you copied all these files into a clean copy of the default code which does not comment out the call to Default_Routine and the PWM mapping takes place after the cameras code and overwrites the values with 127. Now please do not mistake this as a bash on Kevin, far from it! Kevin is AWESOME . What I am saying is that a complete familiarity with how all these pieces of code fit together is crucial.
The alternative is to just load the camera.hex file Kevin included with his code and it should work. Then, just tweak the values in the terminal window.

[Jared Russell]

One word: 7.2 volt backup battery. Ok, three words and a number

The camera itself actually uses power from the main battery via an analog input port. The servos get it from the PWM connector via the backup battery.

[iBheat]

Originally Posted by Abwehr

One word: 7.2 volt backup battery. Ok, three words and a number

The camera itself actually uses power from the main battery via an analog input port. The servos get it from the PWM connector via the backup battery.

I believe the camera is supposed to be hooked up to a PWM output on the RC.



Though I do believe people have powered the camera off of the +5V analog input because the backup battery does not last too long when the camera is connected to a PWM port since the PWM port is powered by the backup battery and the +5V analog input is powered by the main 12V battery.

[Greg Ross]

Originally Posted by krigby

Well, We've read the code inside and out. We've read every thread, dealt with power issues, calibrated it in LabView, and have finally gotten it to recognize the target on the robot using the RC. However, we can't get the servos to move. We have loaded the no frills camera.hex file. In the terminal window it shows the processor commanding the servos but they won't move.

You say you've dealt with power issues, but it still sounds like your backup battery is dead or not connected. (The camera is supposed to take its power from a PWM output on the RC, and the backup battery is where the PWMs get their power.)

[Rocketboy]

We've had the same problems as the original poster of this thread. I'm looking forward to trying out the solution Kevin handed to us. Seems almost too easy.