RMP Forum

With ABB_demo I can see the battery status. But still rmp_demo shows bad values. Massage 4 of the packet 0x407 is still off.

I think ABB_demo and rmp_demo connect to different devices.

No I don't see "Segway RMP Auxiliary Battery Board" in the device manager. I only have Segway Mobile Platform in USB controllers and Segway Centralized RMP Controller in other devices (for which it cannot find any drivers).

I just changed the batteries to see if I will have the same behavior. First I updated the platform using a windows 7 computer. Before windows 7 was not supported, but in the documents included with the latest update package it mentions Windows 7. So I installed the latest drivers to the machine. In ...

Yes , when I did the tests the switch was on.

Hi Patrick, I applied the recent update to my platform. However the value of the Aux battery Voltage is quite off. After a full charge the last 2 bytes of the message 8 is 0xb908 which is roughly 44000 (it should be 0-255 if I understood correctly). Aux battery status also reports a different value:...

Hi Patrick,

I look forward to get the new firmware. Will it be available at the forum, or is there an other address that I should go?

Yes I might be interested in upgrading the platform. I would be happy if Chris can give me the details.

Best

Akin

Hi Patrick,

Any luck on producing the same behavior?

Akin

Is the package 0x0407 for powerbase battery or auxiliary battery? In any case I need to know the status of both batteries.

Best

Akin

Hi,

I have an RMP 50XL with 2 battery packs and I would like to check the powerbase and UI batteries' status during operation.

The CAN packages 0x0406 contains the voltages of these two batteries, but I prefer to know as percentages.

Could you tell me how I can get/calculate thes values?

Thanks

Hi Patrick, When I run the platform at 0.5m/s for 2.05m the odometry reported me 1.017m displacement. The behavior is very same as if I hadn't updated the firmware. When I update the firmware I follow these update instructions: 1- Update User Interface firmware -- load .bin file 2- Update POwerbase ...

Hi Patrick,

Sorry for the late reply.

I just changed the batteries and the build ID is: 0x0BEA

With decimal conversions:
Build id: 3050
Build date: 1550
Build time: 2850


Akin

Yes, all problems seem to be gone. The update fixed all issues.

Thanks.

Ok I run the demo program and did what you said. After one complete wheel turn, the values are following:

Int left: 24636
Int Right: 24886
Fore/Aft Dist: 24620
Int Yaw Pos: 0.694

I also attached the screenshot.

I guess at this point I should contact Chris and send you the machine....

Thank you for the answer Patrick. Sorry the demo code conversion was wrong. There was a an unused #define in the code that gave the conversion from counts to ft and I mistakenly used that. I updated the conversion factor and ran your same test (commanding 1 wheel revolution (1.45229m) and verifying ...

Following up my previous post. About the odometry: I made the platform go forward one wheel turn. The number of counts that it ran are: Left: 23880 and Right: 24632. The platform moved 1.46m, which makes 16356.16 counts/m The Documentation says that it should be 33216 cnts/m The latest demo code say...

Hi Patrick, I checked the code. The conversion value for the integrated forward position in the code (3085.92counts/m) does not match to the documentation (33216 counts/m); and neither of them matches to the reality which is ~15000. For the Integrated Turn Position the code and the docs have the sam...

Did you manage to upload it? I don't see it in this thread, but maybe the files are somewhere else in the forum.

Hi Patrick,

I don't have the KVASER USB-CAN, but I can check out the demo source code and extract the correct information for my code.

Thanks

Hi Patrick, Thank you for your reply. I am not using USB-FTDI drivers for communication. I use serial communication. I dumped directly what I receive from the serial port with printf(%x). For the CAN ID I dumped directly the message coming from the serial port without processing it further for the I...

Hi Patrick, I logged the raw usb packets (18byte) with robot moving 2meters, stop, and turning 180 degrees. The !!!packet ones are the integrated forward and yaw positions with ID 0x0404. I hope that was what you were asking. Thanks Akin packet: 0xF0 0x55 0xAA 0x0E 0x80 0x40 0x80 0x00 0x08 0x00 0x00...

After verifying all the headers, values and conversion units with the correct document I still have "integrated for/aft position" reporting x0.5 of the real value and "integrated yaw position" reporting x0.52 of the real value*. I know that the odometry should be calibrated, but I'm surprised that i...

Thank you Patrick, The conversion chart is what I was looking for. There are big differences in numbers from RMP 50 conversion chart that I was using. Now I wonder if I even parse the status messages coming from the serial port in a correct way. I don't have the documentation that you have mentioned...

Hi,

I use the auxilliary 12V to power up a contact closure circuit and a hokuyo laser. When I turn on the aux power, the indicator LED turns red and always stays red. I wonder if the light is always red, or there is a problem somewhere and does not turn to green.

Thanks

Akin

Hi, I recently got a Segway RMP 50XL platform. I used the rmi_demo_usb demo software to check the odometry values of the platform and I see that the numbers are way off. The "fore/aft distance traveled" and "Int. yaw position" values given by the platform are quite wrong. For a displacement of 0.67m...