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During testing, I found that yaw_rate_target_rps (page 62 of the RMP 440 SE User Manual) quite accurately represented the yaw rate I commanded.

I recommend you check your units and conversions. This feedback variable is in radians/second.

What method are you using to connect to the RMP?

USB is notorious for dropping packets.

Have you looked at the values for these two feedback variables?

• inertial_z_rate_rps
• pse_yaw_rate_dps

Both of these variables are derived from the inertial estimates of the Balance Sensor Assembly (BSA) and should be fairly accurate.

User Manual - RMP 440 OMNI Segway has released a User Manual for the RMP 440 Omni. It covers the physical characteristics, operational model, communication structure/protocol, electrical connections, and maintenance of the RMP 440 Omni, among other things. You can download a copy of the manual here...

Take a look at the Controller Input Mapping section in the User Manual. If you set the RMP to Acceleration-Based Input Mapping, you can send it acceleration commands instead of velocity commands. Using this method, you send the RMP acceleration commands until it reaches the desired velocity. Then yo...

Just to confirm, does the RMP operate correctly when powered ON via the switch?

-Greg

I was able to re-create the issue on a similar machine (440 w/o brakes) using the latest pre-release firmware. When attempting to power on the RMP using a powered USB plug, the Power LED flashed red and the RMP never powered on. The firmware release you have installed has been undergoing pre-release...

Ben, I suspect that your analysis is correct, however I don't see the faultlogs that you uploaded. After going to "Upload attachment" and choosing your file, you must click "Add the file" for the file to upload. You can then choose to place it inline (where the cursor is currently located) or allow ...

We are planning to release a new version of the RMP Applications very soon. This problem has been solved and will be incorporated into the new release.

-Greg

The RMP uses its motors to hold position. In Tractor Mode (with zero motion being commanded) or in Standby Mode the RMP's wheels will not rotate, even when pushed or on a steep slope. The very small velocities you are seeing are a result of the RMP holding position. The wheels are fighting external ...