Search found 79 matches

by phussey
Fri Jun 05, 2015 10:51 am
Forum: Centralized Controller Platforms
Topic: CRITICAL_FAULT_INIT_PROPULSION
Replies: 5
Views: 28043

Re: CRITICAL_FAULT_INIT_PROPULSION

Everything in that data set looks fine, did you experience the issue while recording the data?? It looks like you powered the machine up, let it sit there for a minute, you power cycled it, and everything came back up normally. I do not see any indication that anything went wrong in the system. If y...
by phussey
Thu Jun 04, 2015 9:42 am
Forum: Centralized Controller Platforms
Topic: CRITICAL_FAULT_INIT_PROPULSION
Replies: 5
Views: 28043

Re: CRITICAL_FAULT_INIT_PROPULSION

I spoke with Chris and he indicated the UI charging electronics for the ABB is being replaced. Assuming that you have charged the ABB with some other method, can you do the following: 1. Start the system 2. Start the demo OCU 3. Record the data until the platform shuts down If the platform is poweri...
by phussey
Wed Jun 03, 2015 11:32 am
Forum: Centralized Controller Platforms
Topic: CRITICAL_FAULT_INIT_PROPULSION
Replies: 5
Views: 28043

Re: CRITICAL_FAULT_INIT_PROPULSION

It looks like the system was completely discharged the first time it went down on 5/29; it shows the aux battery at 4.7% SOC which likely means that the propulsion batteries where low as well. The init propulsion fault you are seeing is caused when an MCU comes up initially but immediately goes down...
by phussey
Wed Jan 22, 2014 10:38 am
Forum: Centralized Controller Platforms
Topic: Linux based RMP demo OCU
Replies: 11
Views: 31957

Re: Linux based RMP demo OCU

I see from the post that you are using linaro on a ARM core architecture. The OCU was verified in Ubuntu 12.04 (Precise). It was verified to run with python 2.7 (from apt-get). It requires pyserial and pygame (also from apt-get). This version has been tested with 32-bit and 64-bit Ubuntu 12.04 LTS r...
by phussey
Wed Jan 08, 2014 8:30 am
Forum: Centralized Controller Platforms
Topic: How to solve COMM_FAULT_UI_BAD_MOTION_CMD ?
Replies: 1
Views: 6270

Re: How to solve COMM_FAULT_UI_BAD_MOTION_CMD ?

The fault is due to sending a non-omni motion command (id 0x500 instead of the appropriate 0x600). Omni motion command format differs from the normal 0x500 motion command format to include angle , yawrate and vel (see manual on motion commands), In order to use the OCU with omni you must use a Logit...
by phussey
Tue Dec 17, 2013 12:02 pm
Forum: Centralized Controller Platforms
Topic: Python Segway Initialization
Replies: 5
Views: 12972

Re: Python Segway Initialization

Hello,

I have posted the basic interface example:

Basic threaded RMP interface example

Hope it helps, it should be a good starting point for a user application without all of the OCU GUI complexity.
by phussey
Tue Dec 17, 2013 11:54 am
Forum: Centralized Controller Platforms
Topic: Basic threaded RMP interface example
Replies: 2
Views: 24058

Basic threaded RMP interface example

This is intended to serve as a basic example on how to interface with the RMP platform via ethernet. The files to modify for your own application would be: EXAMPLE_MAIN.py: the main application that shows how to start the RMP thread, communicate with it and handle the events user_event_handlers.py: ...
by phussey
Fri Oct 11, 2013 4:54 pm
Forum: Centralized Controller Platforms
Topic: RMP 440SE fails to initialize after fully charging batteries
Replies: 5
Views: 12925

Re: RMP 440SE fails to initialize after fully charging batte

could you please send a faultlog in a PM so I can see what is causing the fault?

for instructions on pulling the faultlog see:

http://rmp.segway.com/viewtopic.php?f=9&t=80
by phussey
Fri Oct 11, 2013 1:30 pm
Forum: Centralized Controller Platforms
Topic: Windows 8 driver
Replies: 6
Views: 29901

Re: Windows 8 driver

You should just be able to go into the device manager and update the driver manually. I have a windows 8 pro at home for testing and can give you instructions if you need them. Let us know how it works out, so we can add some instructions in a sticky.
by phussey
Mon Oct 07, 2013 2:16 pm
Forum: Centralized Controller Platforms
Topic: RMP220 feedback data for odometry - turn in place
Replies: 1
Views: 4557

Re: RMP220 feedback data for odometry - turn in place

Unfortunately there is no differential velocity integrator in the feedback data in the current release. There is plenty of literature that derives dead reckoning from individual wheel velocities which are available. But in order to get reasonable results one would need to run the calculations real-t...
by phussey
Mon Oct 07, 2013 2:00 pm
Forum: Centralized Controller Platforms
Topic: ROS packages for navigation
Replies: 1
Views: 4067

Re: ROS packages for navigation

This ROS package only works for the deuce hardware architecture and is not supported by Segway Inc. We do not actively support ROS packages for the RMP. We have a few customers develop ROS nodes for the new architecture based on the linux based demo OCU available in the announcement section on the b...
by phussey
Mon Oct 07, 2013 1:54 pm
Forum: Centralized Controller Platforms
Topic: Question about the buffer for commands sent to the RMP
Replies: 1
Views: 4147

Re: Question about the buffer for commands sent to the RMP

When your program terminates the last thing you should be doing is sending zero commands or transition to standby. When you terminate the program mid command, the platform will take 0.5 seconds to deem the connection lost. At which point the platform will slew the commands to zero at the deceleratio...
by phussey
Mon Oct 07, 2013 1:38 pm
Forum: Centralized Controller Platforms
Topic: What is the expected differential error in the RMP220?
Replies: 1
Views: 4159

Re: What is the expected differential error in the RMP220?

The steady state error in the yaw rate controller is very low (<1%) for the default payload range, on a high traction and level surface, with the tires inflated to the spec in the manual. Surface traction, tire pressure, high payloads, and slopes will all effect the steady state error to some degree...
by phussey
Mon Oct 07, 2013 1:23 pm
Forum: Centralized Controller Platforms
Topic: RMP220 question about yaw rate discrepancy
Replies: 4
Views: 9279

Re: RMP220 question about yaw rate discrepancy

A very important note is that the yaw rate command is normalized to the maximum yaw rate. Meaning the input command is unitless (-1.0...1.0). Since the default max yaw rate is ~3 rad/s; commanding 1.0 would result in a yaw rate of 3.0 rad/s. This is also true for the velocity controller, obviously d...
by phussey
Fri Oct 04, 2013 4:13 pm
Forum: Centralized Controller Platforms
Topic: RMP210, frequency response characteristics
Replies: 1
Views: 3996

Re: RMP210, frequency response characteristics

Due to the public nature of the forum, Segway does not generally release details about the controller architecture or characteristics. On a case by case basis, Segway may allow transfer of controller details after the execution of an NDA.
by phussey
Fri Oct 04, 2013 3:35 pm
Forum: Centralized Controller Platforms
Topic: RMP response message packet delay
Replies: 3
Views: 7498

Re: RMP response message packet delay

Here are a few notes and tips based on your question: 1. The RMP uses UDP for the ethernet protocol, meaning that there is no guarantee of delivery. That means that you will have to handle verification of receipt by checking the response. 2. Wireless is notorious for dropped packets due to channel c...
by phussey
Fri Sep 27, 2013 8:13 am
Forum: Deuce Board Platforms
Topic: Checking the battery status
Replies: 12
Views: 24442

Re: Checking the battery status

You are correct. The ABB demo connects directly to the aux battery board. In the new RMP50XL release, the powerbase CU connects to the ABB via CAN bus and relays the information in the packets sent to the deuce board.I did this so that the information would be included in the existing link so you wo...
by phussey
Thu Sep 26, 2013 2:56 pm
Forum: Deuce Board Platforms
Topic: Checking the battery status
Replies: 12
Views: 24442

Re: Checking the battery status

This zip has the inf and everything that was in the previous post
Segway_RMP_ABB_Demo.zip
by phussey
Thu Sep 26, 2013 10:02 am
Forum: Deuce Board Platforms
Topic: Checking the battery status
Replies: 12
Views: 24442

Re: Checking the battery status

Hi Akin, The issue is that the CU in the powerbase cannot establish CAN communication with the ABB. When you connect USB, with the aux power switch on, do you see the "Segway RMP Auxiliary Battery Board" in the device manager? It should be connected via USB hub and you can talk to it as a virtual co...
by phussey
Tue Sep 24, 2013 4:51 pm
Forum: Centralized Controller Platforms
Topic: More error at lower rotation rate (Turn in place)
Replies: 1
Views: 4625

Re: More error at lower rotation rate (Turn in place)

There are a few answers to your questions: 1. RMP 440 is a skid steer vehicle so the odometry data (diff_wheel_vel_rps) is purely the differential velocity between the wheels and depending on things like surface traction, payload, rates etc the value will vary from the inertial data. 2. The PSE yaw ...
by phussey
Tue Sep 24, 2013 4:09 pm
Forum: Deuce Board Platforms
Topic: Checking the battery status
Replies: 12
Views: 24442

Re: Checking the battery status

Hi Akin,

It looks like the aux battery CAN communication has not been started. Can you verify that the auxiliary battery is powered on? The light next to the toggle switch should be on when the aux battery communication board is powered and the battery is healthy.
by phussey
Fri Sep 20, 2013 2:37 pm
Forum: Deuce Board Platforms
Topic: Segway RMP 50XL Odometry value problem
Replies: 33
Views: 48464

Re: Segway RMP 50XL Odometry value problem

The new release is on the forum, let me know if you have any issues or questions.

http://rmp.segway.com/viewtopic.p ... p=305#p305
by phussey
Fri Sep 20, 2013 2:17 pm
Forum: Deuce Board Platforms
Topic: RMP 50XL Release (09-18-13): 3051
Replies: 0
Views: 5973

RMP 50XL Release (09-18-13): 3051

This release contains updated drivers and applications, including a new version of the RMI demo and a new Deuce board loading application. The newest application versions have been tested with windows XP up to windows 7. The updates: Critical bug fix to correct uninitialized pointer from corrupting ...
by phussey
Thu Sep 19, 2013 6:18 pm
Forum: Deuce Board Platforms
Topic: Segway RMP 50XL Odometry value problem
Replies: 33
Views: 48464

Re: Segway RMP 50XL Odometry value problem

It will be posted in the morning, it has taken a bit longer because I have also updated all the tools and demo to work with the newest version of windows and the newest USB drivers.
by phussey
Wed Sep 18, 2013 3:45 pm
Forum: Deuce Board Platforms
Topic: Checking the battery status
Replies: 12
Views: 24442

Re: Checking the battery status

I have added the auxiliary battery SOC, current, and status to the RMP50XL feedback structure for the new release. The package will be available tomorrow.
by phussey
Tue Sep 17, 2013 4:05 pm
Forum: Deuce Board Platforms
Topic: Segway RMP 50XL Odometry value problem
Replies: 33
Views: 48464

Re: Segway RMP 50XL Odometry value problem

Hi Akin, I have identified the issue and the fix. It turns out that you found a bug that has existed since the codebase creation ~10 years ago. Thank you for pointing it out. I will be fixing it and posting a release tomorrow as well as an answer to your question about the propulsion and aux battery...
by phussey
Tue Sep 17, 2013 11:12 am
Forum: Deuce Board Platforms
Topic: Segway RMP 50XL Odometry value problem
Replies: 33
Views: 48464

Re: Segway RMP 50XL Odometry value problem

Hi Akin,

I have just run testing and reproduced the behavior, but I need a little time to figure this one out. I will get back to you later today with a status.
by phussey
Fri Sep 13, 2013 3:17 pm
Forum: Centralized Controller Platforms
Topic: Discrepancy between commanded and actual turn rate
Replies: 3
Views: 5747

Re: Discrepancy between commanded and actual turn rate

We have completed the testing and verified that there is infact no bug. I can reproduce what you are experiencing by incorrectly setting the yaw accleration rate in the configurable parameters. By default the yaw acceleration limit is 1 rad/s^2. This means that a command of 1 rad/s will take 1 secon...
by phussey
Wed Sep 11, 2013 5:51 pm
Forum: Centralized Controller Platforms
Topic: Discrepancy between commanded and actual turn rate
Replies: 3
Views: 5747

Re: Discrepancy between commanded and actual turn rate

I think the issue they are experiencing is that the physical orientation of the platform in pure yaw motion for a period of time does not match the integrated yaw rate command over the same period of time. Which would imply that something is going on physically with the machine (ie increased roller ...
by phussey
Thu Aug 29, 2013 2:24 pm
Forum: Deuce Board Platforms
Topic: Segway RMP 50XL Odometry value problem
Replies: 33
Views: 48464

Re: Segway RMP 50XL Odometry value problem

The build information on the machine is the latest release after you removed the battery and experienced the issue; indicating there no effect on the firmware due to removing the battery. We will try and replicate it at Segway to see if it is reproducible.
by phussey
Thu Aug 29, 2013 9:07 am
Forum: Centralized Controller Platforms
Topic: vehicle odometry 440 omni flex chassis
Replies: 1
Views: 3847

Re: vehicle odometry 440 omni flex chassis

We do not provide dead-reckoning information in the feedback data, due to variation in customer applications and environments. You should be able to take the individual wheel velocities, run them through the mecanum transform, integrate the vx,vy and angle data, and determine the X,Y position and he...
by phussey
Thu Aug 29, 2013 8:53 am
Forum: Deuce Board Platforms
Topic: Segway RMP 50XL Odometry value problem
Replies: 33
Views: 48464

Re: Segway RMP 50XL Odometry value problem

Hi Akin, 3050 is the latest release for the RMP50XL, so I do not think that changing the battery is altering the firmware in the platform. There must be something else going on. If you can run a test I will have someone run it in parallel at Segway. Run the machine at 0.5 m/s for 1m. Measure the dis...
by phussey
Tue Aug 20, 2013 3:50 pm
Forum: Centralized Controller Platforms
Topic: 440 omni flex chassis---center of rotation DNE center of veh
Replies: 2
Views: 4635

Re: 440 omni flex chassis---center of rotation DNE center of

Please be sure that the flex OMNI configuration is loaded. The wheel base is different than the rigid OMNI and that difference will affect the Mecanum transform; likely in the way you are experiencing. The wheel base and track width for the FLEX OMNI should be: Wheel Base Length (m): 0.693 Wheel Tra...
by phussey
Tue Aug 20, 2013 3:45 pm
Forum: Centralized Controller Platforms
Topic: How to maintain motion commands (440 Omni)
Replies: 5
Views: 8123

Re: How to maintain motion commands (440 Omni)

I have run the testing with the current release (04-08-13) and the commands persist for 0.5 seconds before being slewed to zero. I tested from 0.5Hz to 100Hz with same results. Have you verified the timing of your application and that the communication interface is not dropping messages? If I rememb...
by phussey
Fri Aug 16, 2013 11:29 am
Forum: Centralized Controller Platforms
Topic: How to maintain motion commands (440 Omni)
Replies: 5
Views: 8123

Re: How to maintain motion commands (440 Omni)

Acceleration based mapping is purely for tele-operation and not ideal for the application. The platform must be commanded at a minimum frequency in order to maintain smooth operation. You must update the commands at a minimum of 0.5Hz (twice per second) otherwise the command will be slewed to zero a...
by phussey
Fri Aug 16, 2013 11:23 am
Forum: Centralized Controller Platforms
Topic: Single PowerOff mode request ignored, multiple obeyed
Replies: 4
Views: 6921

Re: Single PowerOff mode request ignored, multiple obeyed

Yes only one command is accepted in a 10ms frame. If more than one is received they are both discarded.
by phussey
Thu Aug 15, 2013 2:57 pm
Forum: Centralized Controller Platforms
Topic: Single PowerOff mode request ignored, multiple obeyed
Replies: 4
Views: 6921

Re: Single PowerOff mode request ignored, multiple obeyed

A single power-off mode request will be granted. Depending on your application timing the request may be getting ignored because more than one command in a 10ms frame is received. The maximum data rate is 100Hz, so if you are sending drive commands at 100Hz and injecting the poweroff it would be pot...
by phussey
Tue Aug 13, 2013 11:06 am
Forum: Centralized Controller Platforms
Topic: Fault descriptions
Replies: 9
Views: 15922

Re: Fault descriptions

The issue is due to a pre-production hardware limitation. Based on the serial number in your faultlog you have an AA revision CCU (production is AB). Because of this the kill switch isolators require 12V, instead of 5V. USB only provides 5V and therefor you are getting the MCU_MOTOR_DRIVE_AMP_ENABLE...
by phussey
Mon Aug 05, 2013 8:27 pm
Forum: Deuce Board Platforms
Topic: Segway RMP 50XL Odometry value problem
Replies: 33
Views: 48464

Re: Segway RMP 50XL Odometry value problem

Hi Akin, The firmware should not be affected when the battery is changed. The process to change the flash state on the CU processor requires a series of secure hardware and software steps. Could you please send some data logs (raw and interpreted)? The build ID is contained within message 0x0400 dat...
by phussey
Thu Aug 01, 2013 6:25 pm
Forum: Centralized Controller Platforms
Topic: rmp440le: immediately execute deceleration request
Replies: 6
Views: 9891

Re: rmp440le: immediately execute deceleration request

The one second delay is intentional. The delay is to prevent a stepwise change in the velocity limit. When a DTZ response is issued the platform drops the speed limit to the current speed for 1 second and then slews the limit to zero at the specified deceleration rate. This is important for dynamica...
by phussey
Mon Apr 08, 2013 11:10 am
Forum: Centralized Controller Platforms
Topic: Linux based RMP demo OCU
Replies: 11
Views: 31957

Re: Linux based RMP demo OCU

This version has been updated to support the new flex omni design
by phussey
Wed Feb 27, 2013 9:55 am
Forum: Centralized Controller Platforms
Topic: 440 new firmware issue
Replies: 5
Views: 7874

Re: 440 new firmware issue

The build id's for each processor are available in UDFB3 but the position in the feedback changed during the interface update to accommodate future platforms. Going forward the index of the build IDs will not change and can be used to identify the interface (if any changes are made in the future). I...
by phussey
Tue Feb 26, 2013 4:24 pm
Forum: Centralized Controller Platforms
Topic: 440 new firmware issue
Replies: 5
Views: 7874

Re: 440 new firmware issue

Based on your printout your configuration is: max_vel : 8.0 max_accel : 3.0 max_decel : 3.0 max_dtz : 1.9620000124 max_coastdown : 0.19619999826 max_yaw_rate : 4.5 max_yaw_accel : 28.2740001678 tire_diam : 0.483615994453 wheel_base : 0.584200024605 track_width : 0.711199998856 gearbox_ratio : 1.0 co...
by phussey
Thu Feb 21, 2013 11:48 am
Forum: Centralized Controller Platforms
Topic: UDP communication ports RMPX440LE
Replies: 6
Views: 9742

Re: UDP communication ports RMPX440LE

The latest version compatible with 64-bit Ubuntu 12.04 LTS is located here, there are other minor corrections for the controller mapping so please use this even if you are already running in x86:

http://rmp.segway.com/viewtopic.p ... p=206#p206
by phussey
Thu Feb 21, 2013 8:46 am
Forum: Centralized Controller Platforms
Topic: Question about angle_target_deg in feedback bitmap 2
Replies: 1
Views: 3471

Re: Question about angle_target_deg in feedback bitmap 2

The angle target is only applicable to the Omni platforms. If the bit is set in the UDFB the data will just be zero (or 90 I forget the default) and will be sent.
by phussey
Thu Feb 21, 2013 8:45 am
Forum: Centralized Controller Platforms
Topic: Lag time when switching modes
Replies: 2
Views: 4747

Re: Lag time when switching modes

That is the appropriate way to do it if you need to know the transition time. The reason there is a time lag is because the speed limit is brought to zero at the configured decel to zero rate before the transition is allowed to occur.
by phussey
Thu Feb 21, 2013 8:43 am
Forum: Centralized Controller Platforms
Topic: UDP communication ports RMPX440LE
Replies: 6
Views: 9742

Re: UDP communication ports RMPX440LE

There will be a new version up shortly with a slight modification that supports 64-bit linux if you are using it. The version on there has been verified to work on 32-bit Ubuntu 12.04 LTS
by phussey
Fri Feb 15, 2013 11:07 am
Forum: Centralized Controller Platforms
Topic: UDP communication ports RMPX440LE
Replies: 6
Views: 9742

Re: UDP communication ports RMPX440LE

Please download the linux version of the OCU. This has been fixed in that version.

http://rmp.segway.com/viewtopic.php?f=9&t=83
by phussey
Wed Feb 13, 2013 1:04 pm
Forum: Centralized Controller Platforms
Topic: Linux based RMP demo OCU
Replies: 11
Views: 31957

Linux based RMP demo OCU

This is a version of the OCU compatible with Linux. It was verified in Ubuntu 12.04 (Precise). It was verified to run with python 2.7 (from apt-get). It requires pyserial and pygame (also from apt-get). This version has been tested with 32-bit and 64-bit Ubuntu 12.04 LTS running dual boot and in a v...
by phussey
Fri Feb 08, 2013 12:48 pm
Forum: Centralized Controller Platforms
Topic: RMP 440 Omni---no power
Replies: 12
Views: 15946

Re: RMP 440 Omni---no power

To add to Andrew's reply below, If the charger is plugged into the machine when you power it on and the DISABLE_AC_PRESENT_CSI bit is not set in the configuration bitmap the machine will fault (due to the charger being plugged in). This feature is to prevent a user from commanding motion while conne...
by phussey
Mon Feb 04, 2013 12:19 pm
Forum: Centralized Controller Platforms
Topic: RMP 440 Omni---no power
Replies: 12
Views: 15946

Re: RMP 440 Omni---no power

The commercially available RMP is used for a myriad of applications utilizing a whole host of hardware/OS/RTOS to interface. As such, the python code was not intended to be fully portable or a final solution for controlling the platform. It is provided as a very basic example of how to interface wit...
by phussey
Thu Jan 31, 2013 11:02 am
Forum: Centralized Controller Platforms
Topic: RMP 440 Omni---no power
Replies: 12
Views: 15946

Re: RMP 440 Omni---no power

The centralized controller implements a USB CDC RS232 emulator driver. For Linux and MAC the CDC "driver" is built in to the OS and no additional driver or file is required. Only windows requires an inf file or equivalent. The winreg functions in the python code just find the device in the windows r...
by phussey
Fri Nov 16, 2012 7:09 pm
Forum: Centralized Controller Platforms
Topic: How is the turn rate of the RMP computed?
Replies: 8
Views: 10875

Re: How is the turn rate of the RMP computed?

The interface diff is now posted under the release announcement which should guide users with older firmware through updating their custom software to the new version of the interface.

http://rmp.segway.com/viewtopic.php?f=9&t=70#p171
by phussey
Fri Nov 16, 2012 6:45 pm
Forum: Centralized Controller Platforms
Topic: How is the turn rate of the RMP computed?
Replies: 8
Views: 10875

Re: How is the turn rate of the RMP computed?

I hope you find it useful. I will be uploading a diff of the interface shortly so changes are clear for customers who have written custom software. I will post when it is available.
by phussey
Fri Nov 16, 2012 11:46 am
Forum: Centralized Controller Platforms
Topic: Latest Software Release
Replies: 0
Views: 10618

Latest Software Release

Release 09-18-14 This release adds balancing functionality for RMP 220 balancing platforms. The configuration bitmap has been updates to include a Balance Enable/Disable bit. This change does not affect non-balancing platforms. Download RMP_APP_INSTALLER_091814.zip Install To update your RMP, follo...
by phussey
Wed Nov 14, 2012 5:06 pm
Forum: Centralized Controller Platforms
Topic: RMP 440 Omni---no power
Replies: 12
Views: 15946

Re: RMP 440 Omni---no power

The yellow status light is the visual alive signal. It should blink at about 1 Hz. To connect to the ocu: power the rmp on connect usb and follow the prompts to install the driver. The driver is located in C:\Program Files\Segway\RMP_Applications\USB_Drivers\segway_rmp_cc.inf If you run the demo wit...
by phussey
Wed Nov 14, 2012 10:08 am
Forum: Centralized Controller Platforms
Topic: RMP 440 Omni---no power
Replies: 12
Views: 15946

Re: RMP 440 Omni---no power

Hi Pete, First you should be using the RMP_Demo_OCU to talk to the platform. Selecting the default omni configuration before running by clicking the browse button. About the red light: Please check and make sure the kill switch is attached and that it is not pressed. If it is not and you are still h...
by phussey
Wed Nov 14, 2012 9:47 am
Forum: Centralized Controller Platforms
Topic: RMP 440 Omni---no power
Replies: 12
Views: 15946

RMP 440 Omni---no power

I just received the new RMP 440 Omni yesterday. I charged it overnight (all the led's to the left are blinking in a green pattern), but when I turn on the power, the status led blinks red, and then nothing. I've tried turning on the power and running RMP_ABB_Demo but it never recognizes any signal. ...
by phussey
Thu Nov 08, 2012 12:22 pm
Forum: Centralized Controller Platforms
Topic: How is the turn rate of the RMP computed?
Replies: 8
Views: 10875

Re: How is the turn rate of the RMP computed?

The new package is ready but there is an issue with loading a large file to the forum. The issue is being fixed and it should be up soon.
by phussey
Fri Oct 26, 2012 3:32 pm
Forum: Centralized Controller Platforms
Topic: How is the turn rate of the RMP computed?
Replies: 8
Views: 10875

Re: How is the turn rate of the RMP computed?

The controller tuning for the 440 is was un-intentionally left soft in one of the earlier releases. Could you please respond with the build ID for the Segway processor and the serial number of the platform? There will be a new release package posted on the forum next week sometime to address a few o...
by phussey
Thu Oct 11, 2012 2:02 pm
Forum: Deuce Board Platforms
Topic: Segway RMP 50XL Odometry value problem
Replies: 33
Views: 48464

Re: Segway RMP 50XL Odometry value problem

Hi Akin,

Some good news, I did a little more digging and it seems that your machine has the old RMP50 code installed. I loaded that code on a machine here and had all the same results that you did. I will be sending you an updater package which should fix all of your issues.
by phussey
Wed Oct 10, 2012 5:58 pm
Forum: Deuce Board Platforms
Topic: Segway RMP 50XL Odometry value problem
Replies: 33
Views: 48464

Re: Segway RMP 50XL Odometry value problem

Hi Akin,

Yes there must be something else going on. I will talk to Chris tomorrow morning a figure out what the options are.
by phussey
Wed Oct 10, 2012 9:33 am
Forum: Deuce Board Platforms
Topic: Segway RMP 50XL Odometry value problem
Replies: 33
Views: 48464

Re: Segway RMP 50XL Odometry value problem

It looks like you are parsing it correctly as far as I can tell. I have attached a version of the old demo that supports USB. An important note is that the FTDI driver in the old architecture systems are not supported beyond windows XP, there are known issues with VISTA and 7 compatibility. That bei...
by phussey
Tue Oct 09, 2012 11:03 am
Forum: Deuce Board Platforms
Topic: Segway RMP 50XL Odometry value problem
Replies: 33
Views: 48464

Re: Segway RMP 50XL Odometry value problem

Hi Akin, 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 says that it should be 30...
by phussey
Tue Sep 25, 2012 9:12 am
Forum: Deuce Board Platforms
Topic: Segway RMP 50XL Odometry value problem
Replies: 33
Views: 48464

Re: Segway RMP 50XL Odometry value problem

Hi Akin,

I am trying to upload the demo but there is a problem with the forum server permissions. We are attempting to get it fixed, I should be able to post it today. Sorry for the delay.
by phussey
Tue Sep 18, 2012 4:37 pm
Forum: Deuce Board Platforms
Topic: Segway RMP 50XL Odometry value problem
Replies: 33
Views: 48464

Re: Segway RMP 50XL Odometry value problem

Hi Akin,

I will post it on the forum when I get in tomorrow morning.
by phussey
Thu Sep 13, 2012 10:09 pm
Forum: Deuce Board Platforms
Topic: Segway RMP 50XL Odometry value problem
Replies: 33
Views: 48464

Re: Segway RMP 50XL Odometry value problem

Hi Akin, I have re-written the demo using KVASER USB-CAN hardware, I found that the USB driver does not work with most recent versions of the FTDI driver and newer versions of windows. To address your questions about accuracy of the data reported by the demo; there were some issues with the constant...
by phussey
Thu Aug 23, 2012 12:03 pm
Forum: Centralized Controller Platforms
Topic: Problems With Running RMP OCU
Replies: 6
Views: 9491

Re: Problems With Running RMP OCU

You are quite right, must have been a cut and paste from code to word. I will have the documentation updated, thank you for pointing it out.
by phussey
Mon Aug 20, 2012 3:46 pm
Forum: Centralized Controller Platforms
Topic: Problems With Running RMP OCU
Replies: 6
Views: 9491

Re: Problems With Running RMP OCU

Looks like it should work just fine with the settings. Just out of curiosity, what version of windows are you using? The demo was only ever tested with XP and up if that's any clue to what is going on.
by phussey
Mon Aug 20, 2012 3:02 pm
Forum: Deuce Board Platforms
Topic: Segway RMP 50XL Odometry value problem
Replies: 33
Views: 48464

Re: Segway RMP 50XL Odometry value problem

Hi Akin, To start I verified the odometry is infact correct for the RMP50XL we have here from FCC testing, with the rmi_demo_usb.exe application and via CAN using my own raw data collection. So I think it is a parsing issue. I am a little confused by the raw packets you sent. To start the CAN ID in ...
by phussey
Mon Aug 20, 2012 9:11 am
Forum: Centralized Controller Platforms
Topic: Problems With Running RMP OCU
Replies: 6
Views: 9491

Re: Problems With Running RMP OCU

I will quickly go over 3 options which hopefully will help you connect. For Ethernet: (one important note is that the platform will not respond to a ping) On your PC go to network connections. Right click on your wired connection or click on the link (Windows XP or 7 dependant) go to properties find...
by phussey
Fri Aug 17, 2012 5:26 pm
Forum: Deuce Board Platforms
Topic: Segway RMP 50XL Odometry value problem
Replies: 33
Views: 48464

Re: Segway RMP 50XL Odometry value problem

Hi Akin,

Could you please send me some raw data ( just the raw packets) from the RMP using either CAN or USB. Then I can send you an example for conversion. I will take a look at the demo program on Monday and see if I can answer the question, but raw data will be the fastest path.

Thanks,
Patrick
by phussey
Tue Aug 14, 2012 11:30 am
Forum: Deuce Board Platforms
Topic: Segway RMP 50XL Odometry value problem
Replies: 33
Views: 48464

Re: Segway RMP 50XL Odometry value problem

What you are seeing is the fixed point unitless representation of the feedback data. You need to convert these values using scale factors to engineering units. I am not 100% sure how the demo represents the data for the old architecture systems but the scaling for the raw data coming from the platfo...
by phussey
Wed May 02, 2012 9:14 am
Forum: Centralized Controller Platforms
Topic: Powering on RMP with USB connected fails
Replies: 3
Views: 5793

Re: Powering on RMP with USB connected fails

I just tested Craig's suggestion and it does not work because the +5V line is used by the PC to detect a device. There is no way (currently) around having to power the machine and then connect via USB with pre-production CCU hardware (rev AA). We will discuss and see if there are any alternatives fo...
by phussey
Wed May 02, 2012 9:05 am
Forum: Centralized Controller Platforms
Topic: Sending RMP_CMD_NONE not getting a response
Replies: 2
Views: 5090

Re: Sending RMP_CMD_NONE not getting a response

I just tested this and the CCU responds just fine to the RMP_CMD_NONE general purpose command on all interfaces. With CAN the packet is: id: 0x0501 data[0] = 0 data[1] = 0 data[2] = 0 data[3] = 0 data[4] = 0 data[5] = 0 data[6] = 0 data[7] = 0 With USB or Ethernet the packet is: data: [0x05, 0x01, 0...
by phussey
Mon Apr 23, 2012 4:29 pm
Forum: Centralized Controller Platforms
Topic: Force feedback bitmap command sends extra bytes
Replies: 2
Views: 5326

Re: Force feedback bitmap command sends extra bytes

Although the CRC is only 16-bits, the CCU ships all values using 32-bit values including the CRC.

The additional 2 bytes are null bytes in the CRC value (16-bit value shipped as a 32).
by phussey
Mon Apr 23, 2012 9:36 am
Forum: Centralized Controller Platforms
Topic: Hardware Kill and Decel Request
Replies: 5
Views: 5416

Re: Hardware Kill and Decel Request

The hardware decel request is disabled in software for the version you have I will get you an updated version of the code.
by phussey
Mon Apr 23, 2012 9:35 am
Forum: Centralized Controller Platforms
Topic: Can't set max accel and decel below 0.5
Replies: 2
Views: 2569

Re: Can't set max accel and decel below 0.5

The minimum acceleration and deceleration is set to 0.05 g (0.4909999 m/s^2) to prevent the user from accidentally setting it to zero. This value was determined by 2 factors, 1. To allow for reasonable coastdown acceleration for acceleration based input mapping 2. At the max speed for static systems...