Segway RMP 50XL Odometry value problem

RMP 50, 50XL, 100, 200, 400
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Akin
Posts: 24
Joined: Mon Aug 13, 2012 12:21 pm

Segway RMP 50XL Odometry value problem

Post by 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 "fore/aft distance traveled" is 11513. And for a turn of 180 degrees the "int yaw position" is given as 80.

What are the units of these two values? I have found an old document for RMP 50 and 100 (Segway Robotic Mobility Platform (RMP) Interface Guide v2.0). This documents mentions "counts" as units, but does not give the conversion numbers for RMP 50XL. Is there such a document for 50XL?

I am surprised that the odometry is that much wrong. Am I interpreting those two fields wrong? What do you recommend to fix the values?

Thank you

Akin

phussey
Posts: 79
Joined: Fri Apr 20, 2012 8:12 am

Re: Segway RMP 50XL Odometry value problem

Post by phussey »

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 platform has been verified.

It gives the fixed to floating point conversion needed to get the value into engineering units. This documentation should have been included with the user material.



Data Conversion Reference

Conversion factors for data items contained in monitoring messages. Data is refreshed at 100 Hz by the CU processors.


Variable conversion
Pitch1 7.8 counts/ deg
Pitch Rate1 7.8 counts/ deg/sec
Roll Angle1 7.8 counts/ deg
Roll Rate1 7.8 counts/ deg/sec
Left Wheel Speed2 332 counts/ m/sec
Right Wheel Speed2 332 counts/ m/sec
Yaw Rate1 7.8 counts/ deg/sec
Servo Frame counter 0.01 sec/ frame
Integrated Left Wheel Position2 33216 counts/ m
Integrated Right Wheel Position2 33216 counts/ m
Integrated Fore/aft position2 33216 counts/ m
Integrated Turn position2 17929 counts/ rad
Powerbase Battery Voltage 4 counts/Volt
User Interface Battery Voltage (equation) (VDC= 0.0154 * counts + 0.166)
Left Motor Current 78.65 counts/A0pk
Right Motor Current 78.65 counts/A0pk
Minimum Motor Drive Current limit 78.65 counts/A0pk
Minimum Battery State of Charge 2.55 cnts/ percent (255 counts full range)
Raw inertial yaw rate 64 counts/ (rad/s)
1 These estimates come from a pitch state estimator that synthesizes low frequency and high frequency sensors to arrive at estimates of angles and angular rates. Rough terrain and other high acceleration maneuvers will reduce the accuracy of these numbers. Some platforms do not have a BSA and therefor do not have this data available (RMP50XL, RMP50)
2 These estimates are based on the nominal rolling diameter of the wheel. Deviations as large as 10% can occur with changes in tire pressure and payload.
PATRICK HUSSEY
Principal Engineer

STANLEY INNOVATION, INC
www.stanleyinnovation.com

Akin
Posts: 24
Joined: Mon Aug 13, 2012 12:21 pm

Re: Segway RMP 50XL Odometry value problem

Post by Akin »

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. The platform came with a usb drive containing demo programs and a user manual which does not contain anything about status messages, value addresses or conversion units. I will contact sales to get the missing document. Is there an official name for it? It would help me to ask the document by name.

Thanks again,

Akin

Akin
Posts: 24
Joined: Mon Aug 13, 2012 12:21 pm

Re: Segway RMP 50XL Odometry value problem

Post by Akin »

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 it is x2 wrong. Or is there a logic behind this that these values should be multiplied by 2?

Akin

* I'm looking at the count number reported by the platform and divide it by the numbers count/m (or count/rad) values in the chart.

phussey
Posts: 79
Joined: Fri Apr 20, 2012 8:12 am

Re: Segway RMP 50XL Odometry value problem

Post by phussey »

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
PATRICK HUSSEY
Principal Engineer

STANLEY INNOVATION, INC
www.stanleyinnovation.com

Akin
Posts: 24
Joined: Mon Aug 13, 2012 12:21 pm

Re: Segway RMP 50XL Odometry value problem

Post by Akin »

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 0x00 0x00 0x00 0x00 0x74 0x74 0xCF
!!!packet: 0xF0 0x55 0xAA 0x73 0x80 0x80 0x1F 0xFD 0x08 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x76
packet: 0xF0 0x55 0xAA 0xD8 0x80 0xC0 0x80 0x00 0x08 0x00 0x01 0x00 0x00 0x01 0x8A 0x01 0x32 0xAD
packet: 0xF0 0x55 0xAA 0x3D 0x80 0x00 0x1F 0xFD 0x08 0x0B 0xEA 0x06 0x0E 0x0B 0x22 0x01 0x2B 0xC9
packet: 0xF0 0x55 0xAA 0xA2 0xD0 0x00 0x80 0x00 0x08 0x00 0x05 0x00 0x80 0x00 0x00 0x04 0x3B 0x4F
[INFO] [WallTime: 1345228698.796039] Using max_linear_vel: 0.700000 and max_angular_vel: 0.200000
packet: 0xF0 0x55 0xAA 0x07 0x80 0x60 0x1F 0xFD 0x08 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x03
packet: 0xF0 0x55 0xAA 0x6C 0x80 0xA0 0x80 0x00 0x08 0xFF 0xE7 0x00 0x00 0x00 0x80 0x00 0x00 0x91
packet: 0xF0 0x55 0xAA 0xD1 0x80 0xE0 0x1F 0xFD 0x08 0x00 0x00 0x00 0x00 0x00 0xF9 0x00 0x00 0xBD
packet: 0xF0 0x55 0xAA 0x36 0x80 0x20 0x80 0x00 0x08 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0xB0
packet: 0xF0 0x55 0xAA 0x9B 0x80 0x40 0x1F 0xFD 0x08 0x00 0x00 0x00 0x00 0x00 0x00 0x74 0xD9 0x40
!!!packet: 0xF0 0x55 0xAA 0x00 0x80 0x80 0x80 0x00 0x08 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x86
packet: 0xF0 0x55 0xAA 0x65 0x80 0xC0 0x1F 0xFD 0x08 0x00 0x01 0x00 0x00 0x01 0x8A 0x01 0x32 0x84
packet: 0xF0 0x55 0xAA 0xCA 0x80 0x00 0x80 0x00 0x08 0x0B 0xEA 0x06 0x0E 0x0B 0x22 0x01 0xF5 0x0E
packet: 0xF0 0x55 0xAA 0x2F 0xD0 0x00 0x1F 0xFD 0x08 0x00 0x05 0x00 0x80 0x00 0x00 0x04 0x3B 0x26
packet: 0xF0 0x55 0xAA 0x94 0x80 0x60 0x80 0x00 0x08 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x12
packet: 0xF0 0x55 0xAA 0xF9 0x80 0xA0 0x1F 0xFD 0x08 0xFF 0xED 0x00 0x00 0x00 0x80 0x00 0x00 0x61
packet: 0xF0 0x55 0xAA 0x5E 0x80 0xE0 0x80 0x00 0x08 0x00 0x13 0x00 0x00 0x00 0xF9 0x00 0x00 0xBA
packet: 0xF0 0x55 0xAA 0xC3 0x80 0x20 0x1F 0xFD 0x08 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x86
packet: 0xF0 0x55 0xAA 0x28 0x80 0x40 0x80 0x00 0x08 0x00 0x0B 0x00 0x09 0x00 0x00 0x75 0x3E 0xD6
!!!packet: 0xF0 0x55 0xAA 0x8D 0x80 0x80 0x1F 0xFD 0x08 0x00 0xF0 0x00 0x00 0xFF 0xDA 0xFF 0xFF 0x90
packet: 0xF0 0x55 0xAA 0xF2 0x80 0xC0 0x80 0x00 0x08 0x00 0x01 0x00 0x00 0x01 0x8A 0x01 0x32 0x93
packet: 0xF0 0x55 0xAA 0x57 0x80 0x00 0x1F 0xFD 0x08 0x0B 0xEA 0x06 0x0E 0x0B 0x22 0x02 0xBF 0x1A
packet: 0xF0 0x55 0xAA 0xBC 0xD0 0x00 0x80 0x00 0x08 0x00 0x05 0x00 0x80 0x00 0x00 0x04 0x3B 0x35
packet: 0xF0 0x55 0xAA 0x21 0x80 0x60 0x1F 0xFD 0x08 0x05 0x26 0x00 0x00 0x04 0xF5 0x00 0x00 0xC3
packet: 0xF0 0x55 0xAA 0x86 0x80 0xA0 0x80 0x00 0x08 0x00 0xE9 0x01 0x18 0x00 0x80 0x00 0x00 0x5C
packet: 0xF0 0x55 0xAA 0xEB 0x80 0xE0 0x1F 0xFD 0x08 0x00 0x60 0x00 0x00 0x00 0xF9 0x00 0x00 0x43
packet: 0xF0 0x55 0xAA 0x50 0x80 0x20 0x80 0x00 0x08 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x96
packet: 0xF0 0x55 0xAA 0xB5 0x80 0x40 0x1F 0xFD 0x08 0x00 0x2F 0x00 0x2C 0x00 0x00 0x75 0xA3 0xFF
!!!packet: 0xF0 0x55 0xAA 0x1A 0x80 0x80 0x80 0x00 0x08 0x0D 0x80 0x00 0x00 0xFF 0xDC 0xFF 0xFF 0x02
packet: 0xF0 0x55 0xAA 0x7F 0x80 0xC0 0x1F 0xFD 0x08 0x00 0x01 0x00 0x00 0x01 0x8B 0x01 0x32 0x69
packet: 0xF0 0x55 0xAA 0xE4 0x80 0x00 0x80 0x00 0x08 0x0B 0xEA 0x06 0x0E 0x0B 0x22 0x03 0x89 0x5E
packet: 0xF0 0x55 0xAA 0x49 0xD0 0x00 0x1F 0xFD 0x08 0x00 0x05 0x00 0x80 0x00 0x00 0x04 0x3B 0x0C
packet: 0xF0 0x55 0xAA 0xAE 0x80 0x60 0x80 0x00 0x08 0x15 0xD6 0x00 0x00 0x15 0xB5 0x00 0x00 0x41
packet: 0xF0 0x55 0xAA 0x13 0x80 0xA0 0x1F 0xFD 0x08 0x00 0x72 0x00 0x81 0x00 0x80 0x00 0x00 0x42
packet: 0xF0 0x55 0xAA 0x78 0x80 0xE0 0x80 0x00 0x08 0x00 0x64 0x00 0x00 0x00 0xF9 0x00 0x00 0x4F
packet: 0xF0 0x55 0xAA 0xDD 0x80 0x20 0x00 0x32 0x08 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x57
packet: 0xF0 0x55 0xAA 0x42 0x80 0x40 0x80 0x00 0x08 0x00 0x2C 0x00 0x2B 0x00 0x00 0x76 0x08 0xAE
!!!packet: 0xF0 0x55 0xAA 0xA7 0x80 0x80 0x00 0x32 0x08 0x1F 0xB6 0x00 0x00 0xFF 0xEE 0xFF 0xFF 0x68
packet: 0xF0 0x55 0xAA 0x0C 0x80 0xC0 0x80 0x00 0x08 0x00 0x01 0x00 0x00 0x01 0x8F 0x01 0x32 0x75
packet: 0xF0 0x55 0xAA 0x71 0x80 0x00 0x00 0x32 0x08 0x0B 0xEA 0x06 0x0E 0x0B 0x22 0x04 0x53 0x55
packet: 0xF0 0x55 0xAA 0xD6 0xD0 0x00 0x80 0x00 0x08 0x00 0x05 0x00 0x80 0x00 0x00 0x04 0x3B 0x1B
packet: 0xF0 0x55 0xAA 0x3B 0x80 0x60 0x00 0x32 0x08 0x28 0xE0 0x00 0x00 0x28 0xDF 0x00 0x00 0xA8
packet: 0xF0 0x55 0xAA 0xA0 0x80 0xA0 0x80 0x00 0x08 0x01 0x01 0x00 0xFD 0x00 0x80 0x00 0x00 0x45
packet: 0xF0 0x55 0xAA 0x05 0x80 0xE0 0x00 0x32 0x08 0x00 0x8C 0x00 0x00 0x00 0xF9 0x00 0x00 0xE8
packet: 0xF0 0x55 0xAA 0x6A 0x80 0x20 0x80 0x00 0x08 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x7C
packet: 0xF0 0x55 0xAA 0xCF 0x80 0x40 0x00 0x32 0x08 0x00 0x41 0x00 0x41 0x00 0x00 0x76 0x6D 0xDE
!!!packet: 0xF0 0x55 0xAA 0x34 0x80 0x80 0x80 0x00 0x08 0x36 0x81 0x00 0x00 0x00 0x0B 0x00 0x00 0x8F
packet: 0xF0 0x55 0xAA 0x99 0x80 0xC0 0x00 0x32 0x08 0x00 0x01 0x00 0x00 0x01 0x8B 0x01 0x32 0x3A
packet: 0xF0 0x55 0xAA 0xFE 0x80 0x00 0x80 0x00 0x08 0x0B 0xEA 0x06 0x0E 0x0B 0x22 0x05 0x1D 0xAE
packet: 0xF0 0x55 0xAA 0x63 0xD0 0x00 0x00 0x32 0x08 0x00 0x05 0x00 0x80 0x00 0x00 0x04 0x3B 0xDC
packet: 0xF0 0x55 0xAA 0xC8 0x80 0x60 0x80 0x00 0x08 0x43 0x4F 0x00 0x00 0x43 0x53 0x00 0x00 0xB4
packet: 0xF0 0x55 0xAA 0x2D 0x80 0xA0 0x00 0x32 0x08 0x00 0x99 0x00 0xA9 0x00 0x80 0x00 0x00 0xC3
packet: 0xF0 0x55 0xAA 0x92 0x80 0xE0 0x80 0x00 0x08 0x00 0x96 0x00 0x00 0x00 0xF9 0x00 0x00 0x03
packet: 0xF0 0x55 0xAA 0xF7 0x80 0x20 0x00 0x32 0x08 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x3D
packet: 0xF0 0x55 0xAA 0x5C 0x80 0x40 0x80 0x00 0x08 0x00 0x43 0x00 0x41 0x00 0x00 0x76 0xD2 0x9C
!!!packet: 0xF0 0x55 0xAA 0xC1 0x80 0x80 0x00 0x32 0x08 0x52 0x58 0x00 0x00 0x00 0x06 0x00 0x00 0x62
packet: 0xF0 0x55 0xAA 0x26 0x80 0xC0 0x80 0x00 0x08 0x00 0x01 0x00 0x00 0x01 0x8A 0x01 0x32 0x60
packet: 0xF0 0x55 0xAA 0x8B 0x80 0x00 0x00 0x32 0x08 0x0B 0xEA 0x06 0x0E 0x0B 0x22 0x05 0xE7 0xA5
packet: 0xF0 0x55 0xAA 0xF0 0xD0 0x00 0x80 0x00 0x08 0x00 0x05 0x00 0x80 0x00 0x00 0x04 0x3B 0x01
packet: 0xF0 0x55 0xAA 0x55 0x80 0x60 0x00 0x32 0x08 0x5F 0xA9 0x00 0x00 0x5F 0x92 0x00 0x00 0xA4
packet: 0xF0 0x55 0xAA 0xBA 0x80 0xA0 0x80 0x00 0x08 0x00 0x5E 0x00 0x8B 0x00 0x80 0x00 0x00 0x41
packet: 0xF0 0x55 0xAA 0x1F 0x80 0xE0 0x00 0x32 0x08 0x00 0x96 0x00 0x00 0x00 0xF9 0x00 0x00 0xC4
packet: 0xF0 0x55 0xAA 0x84 0x80 0x20 0x80 0x00 0x08 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x62
packet: 0xF0 0x55 0xAA 0xE9 0x80 0x40 0x00 0x32 0x08 0x00 0x43 0x00 0x47 0x00 0x00 0x77 0x37 0xF1
!!!packet: 0xF0 0x55 0xAA 0x4E 0x80 0x80 0x80 0x00 0x08 0x6F 0x1F 0x00 0x00 0xFF 0xED 0xFF 0xFF 0xBB
packet: 0xF0 0x55 0xAA 0xB3 0x80 0xC0 0x00 0x32 0x08 0x00 0x01 0x00 0x00 0x01 0x89 0x01 0x32 0x22
packet: 0xF0 0x55 0xAA 0x18 0x80 0x00 0x80 0x00 0x08 0x0B 0xEA 0x06 0x0E 0x0B 0x22 0x06 0xB1 0xFF
packet: 0xF0 0x55 0xAA 0x7D 0xD0 0x00 0x00 0x32 0x08 0x00 0x05 0x00 0x80 0x00 0x00 0x04 0x3B 0xC2
packet: 0xF0 0x55 0xAA 0xE2 0x80 0x60 0x80 0x00 0x08 0x7C 0x57 0x00 0x00 0x7C 0x4F 0x00 0x00 0x24
packet: 0xF0 0x55 0xAA 0x47 0x80 0xA0 0x00 0x32 0x08 0xFF 0x99 0xFF 0xBF 0x00 0x80 0x00 0x00 0x93
packet: 0xF0 0x55 0xAA 0xAC 0x80 0xE0 0x80 0x00 0x08 0x00 0x4F 0x00 0x00 0x00 0xF9 0x00 0x00 0x30
packet: 0xF0 0x55 0xAA 0x11 0x80 0x20 0x00 0x32 0x08 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x24
packet: 0xF0 0x55 0xAA 0x76 0x80 0x40 0x80 0x00 0x08 0x00 0x26 0x00 0x20 0x00 0x00 0x77 0x9C 0xF5
!!!packet: 0xF0 0x55 0xAA 0xDB 0x80 0x80 0x00 0x32 0x08 0x85 0x3F 0x00 0x00 0xFF 0xF8 0xFF 0xFF 0x3B
packet: 0xF0 0x55 0xAA 0x40 0x80 0xC0 0x80 0x00 0x08 0x00 0x01 0x00 0x00 0x01 0x87 0x01 0x32 0x49
packet: 0xF0 0x55 0xAA 0xA5 0x80 0x00 0x00 0x32 0x08 0x0B 0xEA 0x06 0x0E 0x0B 0x22 0x07 0x7B 0xF5
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packet: 0xF0 0x55 0xAA 0x6F 0x80 0x60 0x00 0x32 0x08 0x86 0x3B 0x00 0x00 0x86 0x52 0x00 0x00 0xEA
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packet: 0xF0 0x55 0xAA 0x39 0x80 0xE0 0x00 0x32 0x08 0x00 0x00 0x00 0x49 0x00 0xF9 0x00 0x00 0xF7
packet: 0xF0 0x55 0xAA 0x9E 0x80 0x20 0x80 0x00 0x08 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x48
packet: 0xF0 0x55 0xAA 0x03 0x80 0x40 0x00 0x32 0x08 0xFF 0xDB 0x00 0x27 0x00 0x00 0x78 0x01 0x95
!!!packet: 0xF0 0x55 0xAA 0x68 0x80 0x80 0x80 0x00 0x08 0x85 0xDE 0x00 0x00 0x0C 0x69 0x00 0x00 0x44
packet: 0xF0 0x55 0xAA 0xCD 0x80 0xC0 0x00 0x32 0x08 0x00 0x01 0x00 0x00 0x01 0x87 0x01 0x32 0x0A
packet: 0xF0 0x55 0xAA 0x32 0x80 0x00 0x80 0x00 0x08 0x0B 0xEA 0x06 0x0E 0x0B 0x22 0x00 0x45 0x58
packet: 0xF0 0x55 0xAA 0x97 0xD0 0x00 0x00 0x32 0x08 0x00 0x05 0x00 0x80 0x00 0x00 0x04 0x3B 0xA8
packet: 0xF0 0x55 0xAA 0xFC 0x80 0x60 0x80 0x00 0x08 0x79 0x53 0x00 0x00 0x94 0x57 0x00 0x00 0xF0
packet: 0xF0 0x55 0xAA 0x61 0x80 0xA0 0x00 0x32 0x08 0xFE 0xE8 0x01 0x17 0x00 0x80 0x00 0x00 0xD2
packet: 0xF0 0x55 0xAA 0xC6 0x80 0xE0 0x80 0x00 0x08 0x00 0x00 0x00 0x4F 0x00 0xF9 0x00 0x00 0x16
packet: 0xF0 0x55 0xAA 0x2B 0x80 0x20 0x00 0x32 0x08 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x0A
packet: 0xF0 0x55 0xAA 0x90 0x80 0x40 0x80 0x00 0x08 0xFF 0xDC 0x00 0x23 0x00 0x00 0x78 0x66 0x57
!!!packet: 0xF0 0x55 0xAA 0xF5 0x80 0x80 0x00 0x32 0x08 0x86 0x4B 0x00 0x00 0x2B 0xEC 0x00 0x00 0xF4
packet: 0xF0 0x55 0xAA 0x5A 0x80 0xC0 0x80 0x00 0x08 0x00 0x01 0x00 0x00 0x01 0x8D 0x01 0x32 0x29
packet: 0xF0 0x55 0xAA 0xBF 0x80 0x00 0x00 0x32 0x08 0x0B 0xEA 0x06 0x0E 0x0B 0x22 0x01 0x0F 0x4E
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packet: 0xF0 0x55 0xAA 0x53 0x80 0xE0 0x00 0x32 0x08 0x00 0x00 0x00 0x61 0x00 0xF9 0x00 0x00 0xC5
packet: 0xF0 0x55 0xAA 0xB8 0x80 0x20 0x80 0x00 0x08 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x2E
packet: 0xF0 0x55 0xAA 0x1D 0x80 0x40 0x00 0x32 0x08 0xFF 0xD6 0x00 0x2E 0x00 0x00 0x78 0xCB 0xAE
!!!packet: 0xF0 0x55 0xAA 0x82 0x80 0x80 0x80 0x00 0x08 0x86 0xAE 0x00 0x00 0x51 0x72 0x00 0x00 0x0B
packet: 0xF0 0x55 0xAA 0xE7 0x80 0xC0 0x00 0x32 0x08 0x00 0x01 0x00 0x00 0x01 0x91 0x01 0x32 0xE5
packet: 0xF0 0x55 0xAA 0x4C 0x80 0x00 0x80 0x00 0x08 0x0B 0xEA 0x06 0x0E 0x0B 0x22 0x01 0xD9 0xA8
packet: 0xF0 0x55 0xAA 0xB1 0xD0 0x00 0x00 0x32 0x08 0x00 0x05 0x00 0x80 0x00 0x00 0x04 0x3B 0x8E
packet: 0xF0 0x55 0xAA 0x16 0x80 0x60 0x80 0x00 0x08 0x56 0x43 0x00 0x00 0xB8 0xC4 0x00 0x00 0x79
packet: 0xF0 0x55 0xAA 0x7B 0x80 0xA0 0x00 0x32 0x08 0xFF 0x02 0x00 0xE5 0x00 0x80 0x00 0x00 0xD0
packet: 0xF0 0x55 0xAA 0xE0 0x80 0xE0 0x80 0x00 0x08 0x00 0x00 0x00 0x55 0x00 0xF9 0x00 0x00 0xF5
packet: 0xF0 0x55 0xAA 0x45 0x80 0x20 0x00 0x32 0x08 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0xEF
packet: 0xF0 0x55 0xAA 0xAA 0x80 0x40 0x80 0x00 0x08 0xFF 0xEE 0x00 0x12 0x00 0x00 0x79 0x30 0x71
!!!packet: 0xF0 0x55 0xAA 0x0F 0x80 0x80 0x00 0x32 0x08 0x86 0xA8 0x00 0x00 0x72 0x72 0x00 0x00 0xB1
packet: 0xF0 0x55 0xAA 0x74 0x80 0xC0 0x80 0x00 0x08 0x00 0x01 0x00 0x00 0x01 0x8D 0x01 0x32 0x0F
packet: 0xF0 0x55 0xAA 0xD9 0x80 0x00 0x00 0x32 0x08 0x0B 0xEA 0x06 0x0E 0x0B 0x22 0x02 0xA3 0x9E
packet: 0xF0 0x55 0xAA 0x3E 0xD0 0x00 0x80 0x00 0x08 0x00 0x05 0x00 0x80 0x00 0x00 0x04 0x3B 0xB3
packet: 0xF0 0x55 0xAA 0xA3 0x80 0x60 0x00 0x32 0x08 0x4E 0x28 0x00 0x00 0xC0 0x92 0x00 0x00 0x87
packet: 0xF0 0x55 0xAA 0x08 0x80 0xA0 0x80 0x00 0x08 0xFF 0xB9 0x00 0x18 0x00 0x80 0x00 0x00 0x0C
packet: 0xF0 0x55 0xAA 0x6D 0x80 0xE0 0x00 0x32 0x08 0x00 0x00 0x00 0x00 0x00 0xF9 0x00 0x00 0x0D
packet: 0xF0 0x55 0xAA 0xD2 0x80 0x20 0x80 0x00 0x08 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x14
packet: 0xF0 0x55 0xAA 0x37 0x80 0x40 0x00 0x32 0x08 0x00 0x00 0x00 0x00 0x00 0x00 0x79 0x95 0xCE
!!!packet: 0xF0 0x55 0xAA 0x9C 0x80 0x80 0x80 0x00 0x08 0x86 0xA4 0x00 0x00 0x72 0x6A 0x00 0x00 0xE1
packet: 0xF0 0x55 0xAA 0x01 0x80 0xC0 0x00 0x32 0x08 0x00 0x01 0x00 0x00 0x01 0x8A 0x01 0x32 0xD3
packet: 0xF0 0x55 0xAA 0x66 0x80 0x00 0x80 0x00 0x08 0x0B 0xEA 0x06 0x0E 0x0B 0x22 0x03 0x6D 0xF8
packet: 0xF0 0x55 0xAA 0xCB 0xD0 0x00 0x00 0x32 0x08 0x00 0x05 0x00 0x80 0x00 0x00 0x04 0x3B 0x74
packet: 0xF0 0x55 0xAA 0x30 0x80 0x60 0x80 0x00 0x08 0x4E 0x28 0x00 0x00 0xC0 0x92 0x00 0x00 0xAC
packet: 0xF0 0x55 0xAA 0x95 0x80 0xA0 0x00 0x32 0x08 0xFF 0xBF 0x00 0x18 0x00 0x80 0x00 0x00 0xC6
packet: 0xF0 0x55 0xAA 0xFA 0x80 0xE0 0x80 0x00 0x08 0x00 0x00 0x00 0x00 0x00 0xF9 0x00 0x00 0x31
packet: 0xF0 0x55 0xAA 0x5F 0x80 0x20 0x00 0x32 0x08 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0xD5
packet: 0xF0 0x55 0xAA 0xC4 0x80 0x40 0x80 0x00 0x08 0x00 0x00 0x00 0x00 0x00 0x00 0x79 0xFA 0x8D

phussey
Posts: 79
Joined: Fri Apr 20, 2012 8:12 am

Re: Segway RMP 50XL Odometry value problem

Post by phussey »

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 the packet does not make sense

!!!packet: 0xF0 0x55 0xAA 0x73 0x80 0x80 0x1F 0xFD 0x08 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x76

The beginning of the packet seems fine (0xF0,0x55,0xAA). But the highlighted section should be 0x04 0x04, can you double check the data.

There have also been some known issues with the USB driver on the deuce board system architecture with newer versions of windows, linux and the FTDI drivers. We always recommend that customers use CAN to interface with the deuce board systems where possible. If that is an option I would switch to CAN.
PATRICK HUSSEY
Principal Engineer

STANLEY INNOVATION, INC
www.stanleyinnovation.com

Akin
Posts: 24
Joined: Mon Aug 13, 2012 12:21 pm

Re: Segway RMP 50XL Odometry value problem

Post by Akin »

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 ID. The manual indicates to use this piece of code to obtain the correct ID:

packet.id = ((usb_packet[4] << 3) | ((usb_packet[5] >> 5) & 7)) & 0x0fff;
for (int i = 0; i < 8; i++) {
packet.data = usb_packet[i + 9];
}

I dumped them without using that code:

for(int i=0; i<18; i++)
printf("0x%02X ", usb_packet);

So 0x80 0x80 is actually 0x0404.

Thanks again.

Akin

phussey
Posts: 79
Joined: Fri Apr 20, 2012 8:12 am

Re: Segway RMP 50XL Odometry value problem

Post by phussey »

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 constants used in the PC software interpreting the data. It assumes certain physical constants such as wheel diameter and track width to derive fixed point conversion constants. The new version takes various platforms into consideration and corrects feedback into engineering units accordingly.

The caveat is that you need to communicate via KVASER USB-CAN hardware with the new version of the demo (ie Windows 7 does not support the FTDI USB driver used on the deuce). I also added some functions to show how the yaw rate target is derived in the platform firmware. I would be happy to send you the new version if you would find it valuable.
PATRICK HUSSEY
Principal Engineer

STANLEY INNOVATION, INC
www.stanleyinnovation.com

Akin
Posts: 24
Joined: Mon Aug 13, 2012 12:21 pm

Re: Segway RMP 50XL Odometry value problem

Post by Akin »

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

phussey
Posts: 79
Joined: Fri Apr 20, 2012 8:12 am

Re: Segway RMP 50XL Odometry value problem

Post by phussey »

Hi Akin,

I will post it on the forum when I get in tomorrow morning.
PATRICK HUSSEY
Principal Engineer

STANLEY INNOVATION, INC
www.stanleyinnovation.com

phussey
Posts: 79
Joined: Fri Apr 20, 2012 8:12 am

Re: Segway RMP 50XL Odometry value problem

Post by phussey »

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.
PATRICK HUSSEY
Principal Engineer

STANLEY INNOVATION, INC
www.stanleyinnovation.com

Akin
Posts: 24
Joined: Mon Aug 13, 2012 12:21 pm

Re: Segway RMP 50XL Odometry value problem

Post by Akin »

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

Akin
Posts: 24
Joined: Mon Aug 13, 2012 12:21 pm

Re: Segway RMP 50XL Odometry value problem

Post by Akin »

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 same values but again not the correct value.

For the odometry I think I will just multiply the values that I've found by running the robot on a straight line and turning around itself.

I have 2 small questions to close the topic:

1- What is the unit of the velocity command that I need to provide to the platform? Do I need to provide the speed as m/s or counts/s. The docs says 147cnts/mph in the interpretation coulumn with no further explanation.

2- When I tell the robot to turn around itself with no linear velocity, after 4-5 turns I see that its position is changed by ~10cm. Is this behavior normal and common on segways?

Thanks

Akin
Posts: 24
Joined: Mon Aug 13, 2012 12:21 pm

Re: Segway RMP 50XL Odometry value problem

Post by Akin »

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 says that it should be 3085.92758778538392 cnts/m

About the speed:

The doc indicates to send a value between -1024 and 1024 with header 0x0413 to the platformfor the rotation. The graph on the following page indicates a maximum angular velocity of 3.14rad/s when the platform is stationary. By sending the platform 1024/10 the platforms move at 1.08rad/s rather than the expected 0.31415.

edit:

It seems that the relationship between given command and wheel velocities is not linear. I have given 4 different linear velocity command values and measured the reported counts/s. Here are what I got:

Command: 75 Wheel vel: 3560.51 counts/s
Command: 150 Wheel vel: 7491.38 counts/s
Command: 300 Wheel vel: 23786.91 counts/s
Command: 600 Wheel vel: 59162.60 counts/s

Is there an input-output equation that is not listed in the docs?

I wonder if there is a problem with my platform or its encoders....

phussey
Posts: 79
Joined: Fri Apr 20, 2012 8:12 am

Re: Segway RMP 50XL Odometry value problem

Post by phussey »

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 3085.92758778538392 cnts/m

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 the wheel infact turned 1 revolution and reported ~49698 cnts for the linear travel)

The conversion factor should be 34220.578.
The doc indicates to send a value between -1024 and 1024 with header 0x0413 to the platform for the rotation. The graph on the following page indicates a maximum angular velocity of 3.14rad/s when the platform is stationary. By sending the platform 1024/10 the platforms move at 1.08rad/s rather than the expected 0.31415.
I am not sure what documentation you have but the yaw rate command is calculated as

#define DIFFERENTIAL_WHEEL_COUNTS_PER_RAD_PER_SEC (179.286858159557)
#define YAW_RATE_LIMIT_RAD_PER_SEC_F (3.14)
#define YAW_RATE_LIMIT (YAW_RATE_LIMIT_RAD_PER_SEC_F * DIFFERENTIAL_WHEEL_COUNTS_PER_RAD_PER_SEC ) // = 562.96;

so the command would then be:
float yaw_cmd_f = 0.0;
float yaw_cmd_scale =0.0;
float yaw_limit_sf = 12.0; (this value gets initialized to 12 on the platform so 75% max yaw rate)
short yaw_cmd =0;

yaw_cmd_f = 0.5; //-1.0...1.0 this comes from your input;
yaw_cmd_scale = (YAW_RATE_LIMIT * (yaw_limit_sf / 16.0));
yaw_cmd_f *= yaw_cmd_scale;
yaw_cmd = (short) yaw_cmd_f;

all of this was in the demo I posted in the function OnTimer(TIMER_ID_JOYSTICK). For implementation of the input mapping see the function turn_cmd_to_diff_wheel_cnts in the demo.
It seems that the relationship between given command and wheel velocities is not linear. I have given 4 different linear velocity command values and measured the reported counts/s. Here are what I got:

Command: 75 Wheel vel: 3560.51 counts/s
Command: 150 Wheel vel: 7491.38 counts/s
Command: 300 Wheel vel: 23786.91 counts/s
Command: 600 Wheel vel: 59162.60 counts/s

Is there an input-output equation that is not listed in the docs?
I am not sure what variable you were watching. If you watch the wheel velocity variables (id:0x402 LW Velocity and RW Velocity (slot 0 and 1)) you should see the output match the command:

#define WHEEL_COUNTS_PER_METER_PER_SEC (332.166481073751)
#define VEL_LIMIT_METER_PER_SEC_F (3.576)
#define VEL_LIMIT (VEL_LIMIT_METER_PER_SEC_F * WHEEL_COUNTS_PER_METER_PER_SEC ) //= 1187.83;

so the command would then be:
float vel_cmd_f = 0.0;
float vel_cmd_scale =0.0;
float vel_limit_sf = 12.0; (this value gets initialized to 12 on the platform so 75% max vel)
short vel_cmd =0;

vel_cmd_f = 0.5; //-1.0...1.0 this comes from your input;
vel_cmd_scale = (VEL_LIMIT * (vel_limit_sf / 16.0));
vel_cmd_f *= vel_cmd_scale;
vel_cmd = (short) vel_cmd_f;


so repeating your test using:

wheel_vel_cnts = (left_wheel_vel+right_wheel_vel) / 2;
The command matches the wheel velocity with some error (it is a closed loop control system it will not match exactly).
I wonder if there is a problem with my platform or its encoders....
There are many layers of fault detection to catch faulty hall sensors. Your machine will not run if there is something wrong with the motor hall sesnor feedback. It seems likely that you are not interpreting the data and commanding the machine appropriately. I have attached the demo with corrected values. I have also verified all the feedback with physical experiments.
You do not have the required permissions to view the files attached to this post.
PATRICK HUSSEY
Principal Engineer

STANLEY INNOVATION, INC
www.stanleyinnovation.com

Akin
Posts: 24
Joined: Mon Aug 13, 2012 12:21 pm

Re: Segway RMP 50XL Odometry value problem

Post by Akin »

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 the wheel infact turned 1 revolution and reported ~49698 cnts for the linear travel)
With one right wheel turn here is the content of the package 0x0403. It is a serial connection. And the packages are USB packages.

0xF0 0x55 0xAA 0x3F 0x80 0x60 0xFE 0x8F 0x08 0x60 0x37 0x00 0x00 0x60 0x8B 0x00 0x00 0xD5

Page 14 of User Interface Guide v2.2 tells me to parse this package this way:

Byte 0 - Value: 0xF0 - (Start Byte) ---- OK
Byte 1 - Value: 0x55 - (Can Identifier) ---- OK
Byte 2 - Value: Ignore on read ---- Skipped
Byte 3 - Value: Ignore on read ---- Skipped
Byte 4 and 5 Can Message Header High+Low 11 bits valid ----- 0x8060 ignore last 5 bits ---> 0x403 OK
Byte 6 and 7 For send command ---- Skipped
Byte 8 Ignore ----- OK
Byte 9-16 The data
Byte 17 Checksum --- OK it matches.

For 0x403 Byte 13-16 is the integrated right wheel displacement --> 0x60 0x8B 0x00 0x00

With low and high the order becomes Byte 15 Byte 16 Byte 13 Byte 14 ---> 0X0000608B = 24715 counts

So I get a very different number then yours :-/

I don't know what is inside the canlib library in the demo program since it's a closed source library.

phussey
Posts: 79
Joined: Fri Apr 20, 2012 8:12 am

Re: Segway RMP 50XL Odometry value problem

Post by phussey »

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 being said I assume you are using XP.

Could you please perform the following test:

1. put the RMP on a stand (wheels off the floor)
2. place a marker (like a piece of tape) on the wheel and some reference point (to measure one revolution)
3. connect USB to the platform
4. power the RMP on
6. open the rmi_demo.exe program
5. in the Vel Cmd (cnts) window in the bottom right corner type 100
6. when the wheel has gone 1 full revolution type 0
7. record the values for integrated left, right, and for/aft travel.
8. take a screen shot, post it and the values recorded

If you are still having a problem there may be something else going wrong with the machine. I will have Chris contact you to either send the machine up or discuss the possibility of upgrading your machine to the new system architecture (which I would recommend).
You do not have the required permissions to view the files attached to this post.
PATRICK HUSSEY
Principal Engineer

STANLEY INNOVATION, INC
www.stanleyinnovation.com

Akin
Posts: 24
Joined: Mon Aug 13, 2012 12:21 pm

Re: Segway RMP 50XL Odometry value problem

Post by Akin »

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....
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phussey
Posts: 79
Joined: Fri Apr 20, 2012 8:12 am

Re: Segway RMP 50XL Odometry value problem

Post by phussey »

Hi Akin,

Yes there must be something else going on. I will talk to Chris tomorrow morning a figure out what the options are.
PATRICK HUSSEY
Principal Engineer

STANLEY INNOVATION, INC
www.stanleyinnovation.com

phussey
Posts: 79
Joined: Fri Apr 20, 2012 8:12 am

Re: Segway RMP 50XL Odometry value problem

Post by phussey »

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.
PATRICK HUSSEY
Principal Engineer

STANLEY INNOVATION, INC
www.stanleyinnovation.com

Akin
Posts: 24
Joined: Mon Aug 13, 2012 12:21 pm

Re: Segway RMP 50XL Odometry value problem

Post by Akin »

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

Thanks.

ChrisC
Posts: 43
Joined: Fri Apr 20, 2012 8:22 am

Re: Segway RMP 50XL Odometry value problem

Post by ChrisC »

Follow-up question regarding this issue:
"As you would recall we had a firmware problem that was solved with a firmware update. Now each time I remove the batteries, I have to reapply the update. Is there a permanent way to update the firmware?"

phussey
Posts: 79
Joined: Fri Apr 20, 2012 8:12 am

Re: Segway RMP 50XL Odometry value problem

Post by phussey »

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 data_word0 (see attached) to see if the software is infact altered after changing the battery.
GenII RMP50 Feedback Data.pdf


I suspect that something else is going on and need more information to help.

Thanks,

-Patrick
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PATRICK HUSSEY
Principal Engineer

STANLEY INNOVATION, INC
www.stanleyinnovation.com

Akin
Posts: 24
Joined: Mon Aug 13, 2012 12:21 pm

Re: Segway RMP 50XL Odometry value problem

Post by Akin »

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

phussey
Posts: 79
Joined: Fri Apr 20, 2012 8:12 am

Re: Segway RMP 50XL Odometry value problem

Post by phussey »

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 distance traveled.

Change the battery to cause the issue:

Re-run the test and measure the distance again.
PATRICK HUSSEY
Principal Engineer

STANLEY INNOVATION, INC
www.stanleyinnovation.com

Akin
Posts: 24
Joined: Mon Aug 13, 2012 12:21 pm

Re: Segway RMP 50XL Odometry value problem

Post by Akin »

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 firmware -- load .rex file then load .bin file


I wonder my update procedure is wrong. Should I only do the step 2, since it also updates the interface in the end?

phussey
Posts: 79
Joined: Fri Apr 20, 2012 8:12 am

Re: Segway RMP 50XL Odometry value problem

Post by phussey »

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.
PATRICK HUSSEY
Principal Engineer

STANLEY INNOVATION, INC
www.stanleyinnovation.com

Akin
Posts: 24
Joined: Mon Aug 13, 2012 12:21 pm

Re: Segway RMP 50XL Odometry value problem

Post by Akin »

Hi Patrick,

Any luck on producing the same behavior?

Akin

phussey
Posts: 79
Joined: Fri Apr 20, 2012 8:12 am

Re: Segway RMP 50XL Odometry value problem

Post by phussey »

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.
PATRICK HUSSEY
Principal Engineer

STANLEY INNOVATION, INC
www.stanleyinnovation.com

phussey
Posts: 79
Joined: Fri Apr 20, 2012 8:12 am

Re: Segway RMP 50XL Odometry value problem

Post by phussey »

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 state of charge. I will also give an explanation of the bug. We are committed to resolving this issue for you.

Keep in mind that these issues only exists in the deuce board based platforms which have not been actively supported or maintained in the last few years. You might consider upgrading your platform to the new architecture which is much more robust, feature rich, and fully supported and maintained. Chris can provide details if you are interested.
PATRICK HUSSEY
Principal Engineer

STANLEY INNOVATION, INC
www.stanleyinnovation.com

Akin
Posts: 24
Joined: Mon Aug 13, 2012 12:21 pm

Re: Segway RMP 50XL Odometry value problem

Post by Akin »

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

phussey
Posts: 79
Joined: Fri Apr 20, 2012 8:12 am

Re: Segway RMP 50XL Odometry value problem

Post by phussey »

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.
PATRICK HUSSEY
Principal Engineer

STANLEY INNOVATION, INC
www.stanleyinnovation.com

phussey
Posts: 79
Joined: Fri Apr 20, 2012 8:12 am

Re: Segway RMP 50XL Odometry value problem

Post by phussey »

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
PATRICK HUSSEY
Principal Engineer

STANLEY INNOVATION, INC
www.stanleyinnovation.com

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