From 0fdb47e896cfd4064ceda045683fa467490ac62a Mon Sep 17 00:00:00 2001 From: cfry Date: Sun, 24 Mar 2024 22:43:07 -0400 Subject: [PATCH] release --- core/dexter_defaults.js | 23 +- core/dextersim.js | 33 +- core/index.js | 6 +- core/je_and_browser_code.js | 4 +- core/job.js | 88 ++- core/robot.js | 40 +- core/servo.js | 836 ++++++++++++++++++++++++++++ core/socket.js | 20 +- core/storage.js | 7 +- core/utils.js | 26 + doc/guide.html | 4 +- doc/ref_man.html | 165 +++++- doc/release_notes.html | 46 +- gamepad.js | 16 +- load_job_engine.js | 4 +- low_level_dexter/ViewEyeRealTime.js | 3 +- package.json | 4 +- test_suite/file_system_testsuite.js | 3 +- test_suite/test_suites.js | 44 ++ 19 files changed, 1309 insertions(+), 63 deletions(-) create mode 100644 core/servo.js diff --git a/core/dexter_defaults.js b/core/dexter_defaults.js index 9a5522f2..b387de38 100644 --- a/core/dexter_defaults.js +++ b/core/dexter_defaults.js @@ -37,10 +37,31 @@ Dexter.prototype.defaults_read = function(callback = null){ let the_url = this.defaults_url() let the_dex_inst = this let normal_defaults_read_cb = (function(err, content){ - if(err) { dde_error("Dexter." + the_dex_inst.name + ".defaults_read errored with url: " + + if(err) { //Often becuse Defaults.make_ins isn't on the Dexter. + //so print a warning and use Dexter.defaults instead + //and let the Job proceed + if (typeof(err) !== "string"){ + err = err.toString() + } + let extra_error_message = "" + if(err.includes("404")){ + extra_error_message = "
/serve_samba/share/Defaults.make_ins does not exist on Dexter." + the_dex_inst.name + } + let defaults_copy = JSON.parse(JSON.stringify(Dexter.defaults)) + the_dex_inst.defaults = defaults_copy + warning("Could not read : " + the_url + " + due to:
" + + err + extra_error_message + + "
so Dexter." + the_dex_inst.name + + ".defaults has been set to a copy of Dexter.defaults." + ) + if (callback) { + callback.call(the_dex_inst, null) + } + /*dde_error("Dexter." + the_dex_inst.name + ".defaults_read errored with url: " + the_url + "
and error message: " + err.message + "
You can set a Job's robot to the idealized defaults values by
passing in a Job's 'get_dexter_defaults' to true.") + */ } else { try { diff --git a/core/dextersim.js b/core/dextersim.js index bb61901d..29c44e9d 100644 --- a/core/dextersim.js +++ b/core/dextersim.js @@ -120,7 +120,7 @@ DexterSim = class DexterSim{ if(str.endsWith(";")) { str = str.substring(0, str.length - 1) //cut off the semicolon on the end } - let split_str = str.split(" ") + let split_str = str.split(/[ ,]+/)//separator can be space, comma, or any combination of them, was: " " which didn't handle commas //if its a var length instruction, then an integer is in place of the oplet and the oplet is one later let orig_oplet_maybe = split_str[Instruction.INSTRUCTION_TYPE] if(!Robot.is_oplet(orig_oplet_maybe)) { //assume its an integer for a variable-length instruction @@ -209,6 +209,37 @@ DexterSim = class DexterSim{ case "h": //doesn't go on instruction queue, just immediate ack ds_instance.ack_reply(instruction_array) break; + case "j": + console.log("DexterSim.send passed 'j' oplet: " + instruction_array) + ds_instance.queuej_instance.add_to_queue(instruction_array) + ds_instance.ack_reply_maybe(instruction_array) //send back the original + break; + case "M": //move to. convert to an "a" array and use that. + //note: doesn't encode j6 and j7. + //see: https://github.com/HaddingtonDynamics/OCADO/wiki/Command-oplet-instruction + let ins_arr_a = instruction_array.slice(0, Instruction.INSTRUCTION_ARG0) + ins_arr_a[Instruction.INSTRUCTION_TYPE] = "a" + let xyz_meters = [instruction_array[Instruction.INSTRUCTION_ARG0] / 1000000, //x + instruction_array[Instruction.INSTRUCTION_ARG1] / 1000000, //y + instruction_array[Instruction.INSTRUCTION_ARG2] / 1000000] //z + + let direction = [instruction_array[Instruction.INSTRUCTION_ARG3], + instruction_array[Instruction.INSTRUCTION_ARG4], + instruction_array[Instruction.INSTRUCTION_ARG5]] + + let config = [instruction_array[Instruction.INSTRUCTION_ARG6], + instruction_array[Instruction.INSTRUCTION_ARG7], + instruction_array[Instruction.INSTRUCTION_ARG8]] + + let new_angles_deg = Kin.xyz_to_J_angles(xyz_meters, direction, config) + for(let i = 0; i < 5; i++) { + let deg = new_angles_deg[i] + let arcsec = deg * 3600 + ins_arr_a.push(arcsec) + } + ds_instance.queue_instance.add_to_queue(ins_arr_a) + ds_instance.ack_reply_maybe(instruction_array) //return the orig "M" array + break; case "P": //does not go on queue //ds_instance.queue_instance.add_to_queue(instruction_array) //pid_move_all_joints for j6 and 7 are handled diffrently than J1 thru 5. //IF we get a pid_maj for j6 and/or j7, just treat it like diff --git a/core/index.js b/core/index.js index 36de9901..09a866dc 100644 --- a/core/index.js +++ b/core/index.js @@ -1,5 +1,5 @@ -global.dde_version = "3.9.0" //require("../package.json").version -global.dde_release_date = "Feb 9, 2024" //require("../package.json").release_dat9 +global.dde_version = "3.9.1" //require("../package.json").version +global.dde_release_date = "Mar 23, 2024" //require("../package.json").release_dat9 console.log("dde_version: " + global.dde_version + " dde_release_date: " + global.dde_release_date + "\nRead electron_dde/core/job_engine_doc.txt for how to use the Job Engine.\n") @@ -173,6 +173,8 @@ var {convertArrayBufferToString, convertStringToArrayBuffer, serial_disconnect, serial_disconnect_all, serial_flush, serial_get_or_make_port, serial_path_to_port_map, serial_port_path_to_info_map, serial_port_init, serial_send, serial_send_low_level} = require("./serial.js") +require("./servo.js") //defines globalThis.Servo + var {close_readline, set_keep_alive_value, write_to_stdout} = require("./stdio.js") diff --git a/core/je_and_browser_code.js b/core/je_and_browser_code.js index 59727a3c..cd1b5cde 100644 --- a/core/je_and_browser_code.js +++ b/core/je_and_browser_code.js @@ -169,7 +169,9 @@ function out(val="", color="black", temp=false, code=null){ } if(window["document"]){ let orig_focus_elt = document.activeElement - orig_focus_elt.focus() + if(orig_focus_elt) { + orig_focus_elt.focus() + } } if (temp){ return "dont_print" diff --git a/core/job.js b/core/job.js index 82e9b541..48fdba03 100644 --- a/core/job.js +++ b/core/job.js @@ -1582,25 +1582,31 @@ Job.prototype.if_robot_status_error_default = function(){ let sim_actual = Robot.get_simulate_actual(rob.simulate) if((sim_actual === false) || (sim_actual === "both")){ try{ let path = "Dexter." + rob.name + ":/srv/samba/share/errors.log" - read_file_async(path, undefined, function(err, content){ - if(err) {warning("Could not find: " + path)} - else { - if((typeof(content) != "string") || - (content.length == 0)){ - content == "errors.log is empty" - } - else { - content = replace_substrings(content, "\n", "
") - content = "Content of " + path + "
" + content + "" - setTimeout(function(){write_file_async(path, "")}, - 400) //give the read_file job a chance to finish properly + read_file_async(path, undefined,function(err, content){ + if(err) {warning("Could not find: " + path + " with error: " + err.message)} + else { + let msg = "" + if((typeof(content) != "string") || + (content.length == 0)){ + msg = "errors.log is empty" + } + else { + let content_arr = content.split("\n") + let last_line = content_arr.pop() + if(last_line.trim().length === 0){ //if the last line is empty, this gets 2nd to last line. + last_line = content_arr.pop() } - out(content) + last_line = last_line.replaceAll(",", ",
") + msg += "
Last error in " + path + "" + last_line + "
" + //setTimeout(function(){DDEFile.write_file_async(path, "")}, + // 400) //give the read_file job a chance to finish properly } - }) - } + out(msg) + } + }) + } catch(err) {warning("In Job.prototype.if_robot_status_error_default, could not get the errors.log file
" + - " for " + "Dexter." + rob.name) } + " for " + "Dexter." + rob.name + " with error: " + err.message) } } } return Control.error(msg) @@ -1635,22 +1641,52 @@ Job.prototype.if_dexter_connect_error_default = function(robot_name){ Job.prototype.rs_to_error_message = function(robot_status){ let error_code = robot_status[Dexter.ERROR_CODE] let oplet_error_code = error_code & 0xFF //lower 8 bits - let msg = "error_code: " + error_code let oplet = robot_status[Dexter.INSTRUCTION_TYPE] + let msg = "oplet: " + oplet + " oplet_error_code: " + oplet_error_code if (error_code > 0) { - if((oplet == "r") || (oplet == "w")) { - let linux_msg = linux_error_message(oplet_error_code) - msg += "Error on oplet 'r' (read_file) with Linux error of: " + linux_msg + if((oplet === "r") || (oplet === "w")) { + let linux_msg = globalThis.linux_error_message(oplet_error_code) + msg += " Linux error: " + linux_msg + } + else if((oplet_error_code === 8) && ((oplet === "a") || (oplet === "P") || (oplet === "j"))) { + msg += " Goal position outside joint boundries." + } + else if(oplet === "j") { + msg += " j_move error: " + if(oplet_error_code === 4){ + msg += " Ruckig compute error. Check JointHardwareMax??? configuration." + } + else if(oplet_error_code === 5){ + msg += " Ruckig cannot meet specified duration." + } + else if(oplet_error_code === 6){ + msg += " Replay error. Under-run or over-speed." + } + else if(oplet_error_code === 7){ + msg += " j_move system in an error state." + } + msg += " Clear using 'j' oplet without args." } else { - if (oplet_error_code == 1) {msg += " oplet:" + oplet + " is unknown to Dexter. Please upgrade Dexter firmware and gateware.
"} - else if (oplet_error_code == 2) {msg += " on oplet:" + oplet + " communication error.
"} - else {msg += " on oplet:" + oplet + " Unknown error.
"} + if (oplet_error_code == 0) { } //don't add an extra message + else if (oplet_error_code == 1) {msg += " oplet is unknown to Dexter. Please upgrade Dexter firmware and gateware.
"} + else if (oplet_error_code == 2) {msg += " communication error. No semicolon at end of instruction.
"} + else if (oplet_error_code == 3) {msg += " invalid parameter.
"} + else {msg += " Unknown error.
"} } + //error flags if(error_code & (1 << 10)) {msg+=" Firmware - Gateware Mismatch. Update system. Fatal error.
"} - if(error_code & (1 << 27)) {msg+=" SPAN Servo, Joint 7. r 0 errors.log
"} - if(error_code & (1 << 28)) {msg+=" ROLL Servo, Joint 6. r 0 errors.log
"} - if(error_code & (1 << 30)) {msg+=" Joint Monitor. r 0 errors.log
"} + if(error_code & (1 << 24)) {msg+=" P-Stop error code.
"} + if(error_code & (1 << 25)) {msg+=" Encoder error.
"} + if(error_code & (1 << 26)) {msg+=" Kinematics error.
"} + if(error_code & (1 << 27)) {msg+=" SPAN Servo, Joint 7.
"} + if(error_code & (1 << 28)) {msg+=" ROLL Servo, Joint 6.
"} + if(error_code & (1 << 30)) {msg+=" Joint Monitor.
"} + for(let i = 11; i < 24; i++){ + if(error_code & (1 << i)) { + msg+=" Unknown error flag on bit: " + i + ".
" + } + } } return msg } diff --git a/core/robot.js b/core/robot.js index 574f10d5..6ad54cf4 100644 --- a/core/robot.js +++ b/core/robot.js @@ -1050,6 +1050,9 @@ Dexter = class Dexter extends Robot { this.pid_angles = [0, 0, 0, 0, 0, 0, 0] //this.processing_flush = false //primarily used as a check. a_robot.send shouldn't get called while this var is true this.busy_job_array = [] + + this.servos = Servo.make_servos_for_dexter() + Robot.set_robot_name(this.name, this) //ensures the last name on the list is the latest with no redundancy let i = Dexter.all_names.indexOf(this.name) @@ -2341,14 +2344,30 @@ Dexter.prototype.turn_on_j6_and_j7_torque = function(){ this.set_parameter("ServoSet", 1, 24, 1)] //J7, for XL-320 motors } +Dexter.set_follow_me = function(){ + return [make_ins("S", "RunFile", "setFollowMeMode.make_ins"), + Dexter.turn_off_j6_and_j7_torque(), + Dexter.set_parameter("MotorEnable", 0) + ] +} + +Dexter.prototype.set_follow_me = function(){ + return [make_ins("S", "RunFile", "setFollowMeMode.make_ins", this), + this.turn_off_j6_and_j7_torque(), + this.set_parameter("MotorEnable", 0)]} + + //from Dexter_Modes.js (these are instructions. The fns return an array of instructions -Dexter.set_follow_me = function(){ return make_ins("S", "RunFile", "setFollowMeMode.make_ins") - //Dexter.turn_off_j6_and_j7_torque()] - } -Dexter.prototype.set_follow_me = function(){ return make_ins("S", "RunFile", "setFollowMeMode.make_ins", this) - //this.turn_off_j6_and_j7_torque()] - } +Dexter.set_keep_position = function(){ + return [make_ins("S", "RunFile", "setKeepPositionMode.make_ins"), + Dexter.turn_on_j6_and_j7_torque(), + Dexter.set_parameter("MotorEnable", 1)]} + +Dexter.prototype.set_keep_position = function(){ + return [make_ins("S", "RunFile", "setKeepPositionMode.make_ins", this), + this.turn_on_j6_and_j7_torque(), + this.set_parameter("MotorEnable", 1)]} Dexter.set_force_protect = function(){ return make_ins("S", "RunFile", "setForceProtectMode.make_ins") //Dexter.turn_on_j6_and_j7_torque()] @@ -2357,13 +2376,6 @@ Dexter.prototype.set_force_protect = function(){ return make_ins("S", "RunFile" //this.turn_on_j6_and_j7_torque()] } -Dexter.set_keep_position = function(){ return make_ins("S", "RunFile", "setKeepPositionMode.make_ins") - //Dexter.turn_on_j6_and_j7_torque()] - } -Dexter.prototype.set_keep_position = function(){ return make_ins("S", "RunFile", "setKeepPositionMode.make_ins", this) - //this.turn_on_j6_and_j7_torque()] - } - Dexter.set_open_loop = function(){ return make_ins("S", "RunFile", "setOpenLoopMode.make_ins") // Dexter.turn_on_j6_and_j7_torque()] //use to be in before Nov 3, 2022 but James N says shouldn't be there } @@ -2772,7 +2784,7 @@ Dexter.prototype.set_link_lengths_using_dde_db = function(job_to_start){ this.J3_angle_min = Dexter.J3_ANGLE_MIN this.J4_angle_min = Dexter.J4_ANGLE_MIN this.J5_angle_min = Dexter.J5_ANGLE_MIN - this.J6_angle_min = Dexter.J6_ANGLE_MIN + this.J6_angle_min = ƒ this.J7_angle_min = Dexter.J7_ANGLE_MIN this.J1_angle_max = Dexter.J1_ANGLE_MAX diff --git a/core/servo.js b/core/servo.js new file mode 100644 index 00000000..3a2b0601 --- /dev/null +++ b/core/servo.js @@ -0,0 +1,836 @@ +/*glossary +servo_firmware_type examples: 1 (nothing: doesn't exist), 8 (steppers, joint 1 thru 5), 320 (j6/j7), 430 (j6/j7) //most general +servo_model_class_name examples: "XL320", "XL330", "XC430" "XC430_LOAD" + +servo_model_number examples: 350, 1200, 1240, 1080, +servo_model_name examples: "XL320", "XL330-M288-T", "XC330-M288-T" "XC430-W240-T" //one to one with servo_model_number + +servo_id a integer 3 = j6, 1=j7, (j1 thru 5 not in this category because are not servos, they are steppers) +servo_status A json object containing the status of a servo on a dexter. Used in a_job.user_data.servo_status + +joint_number (1 thru 7) + +todo: + DONE For class name: "Servos" or "Servo" ? Note you have effectively "Dexter.dexter0.servos" + so "servos" is (almost) overloaded. do rename to Servo + - "Dexter.dexter0.servos" is the same kind of data structure + as Servos.info so can we unify those names? ie: Servo.servos + renamne Servos.default_servos + + - robot_from_class_or_job see possible fry rewrite below to: job_or_dexter_to_dexter + - orig has args: (dex_inst_or_class, the_job) but + looks like it should just have 1 arg, call it "job_or_dexter" + and what was the "or-class" of "dex_inst_or_class" supposed to mean? + looks like no supporting code. + but also returns Servos class but only for testing so get rid of that? + AWAIT email to James N sent Mar 19, 2024 + + DONE You have set_servo but it makes instruction: "S ServoSetX " + So is servo_set_X or ServoSetX a better name? + leave as is. + + + DONE servo_id_to_servo see possible fry rewrite below + DONE using fry rewrite. Same semantics. + + DONE static interpret_job_get (job_or_data, reqid, reqaddr, reqlen) => rename + fry proposal static servo_status_to_error_object (job_or_servo_status, req_servo_id, reqaddr, reqlen) + - is "id" actually "servo_id"" IF so , rename reqid to req_servo_id and + can we return the object with the prop name of "servo_id" instead of just "id" ? + leave as is. + NO. leave as is. This is only an internal fn. DOn't doc. And James N working on a replacement anyway. + + + DONE add to glossary "servo_status" A json object containing the status of a servo on a dexter. yes. + + - Dexter.grasp = function(new_degrees=2) but we get overtorque of j7 at 50 or below. + does the fn called, move_until_static really stop it in time to not overtorgue? + + Change 2 degrees to 20, change name of param and static's param to be min_degrees. + and switch order of degree_tolerance=0.01, joint_number in move_until_static + putting joint_number as the 2nd param. + See James N email Mar 19, 2024 + + - Should I wrap: new Job({ name: "test_servos" ...}) in + static define_test_servos_job ? to make it easy to define it but not always defined? + NO, but put job def in doc as an example on how to use this class. + +*/ + +console.log("Top of servo.js") + +var {shouldnt, value_to_percent_hex, little_hex_to_integer} = require("./utils") + + +globalThis.Servo = class Servo { + + static models = { //https://github.com/ROBOTIS-GIT/Dynamixel2Arduino/blob/master/src/actuator.cpp + "XL320": { + "type": "320", + "units": (360/1024), //a full 360' rotation is 1024 positional units + "table": { //https://emanual.robotis.com/docs/en/dxl/x/xl320 //makes dynamixels, table properties + "MODEL": { "addr": 0, "len": 2, "readonly":true }, + "MODE": { "addr": 11, "len": 1 }, + "MAXTEMP": { "addr": 12, "len": 1, "default":65 }, //'C + "SHUTDOWN": { "addr": 18, "len": 1, "default": 3 }, //bitfield + "TORQUE": { "addr": 24, "len": 1, "default": 0 }, + "LED": { "addr": 25, "len": 1, "default": 0}, + "ERROR": { "addr": 50, "len": 1, "readonly":true }, + //"GOALCURRENT": { "addr": , "len": }, // not supported on XL320 + "GOAL_POSITION": { "addr": 30, "len": 2 }, // 300/1023 + "POSITION": { "addr": 37, "len": 2, "readonly":true }, + "LOAD": { "addr": 41, "len": 2, "readonly":true }, + "MOVING": { "addr": 49, "len": 1, "readonly":true }, + + } + }, + "XC430": { + "type": "430", + "units": (360/4096), //a full 360' rotation is 4096 positional units + "table": { //control table v2.0 //values of these props are the location of the actual data + "MODEL": { "addr": 0, "len": 2, "readonly":true }, + "MODEL_INFORMATION": { "addr": 2, "len": 4, "readonly":true }, + "FIRMWARE_VERSION": { "addr": 6, "len": 2, "readonly":true }, + "ID": { "addr": 7, "len": 1 }, + "BAUD_RATE": { "addr": 8, "len": 1 }, + "RETURN_DELAY_TIME": { "addr": 9, "len": 1 }, + "DRIVE_MODE": { "addr": 10, "len": 1 }, + "MODE": { "addr": 11, "len": 1 }, + "SECONDARY_ID": { "addr": 12, "len": 1 }, + "PROTOCOL_VERSION": { "addr": 13, "len": 1 }, + "HOMING_OFFSET": { "addr": 20, "len": 4 }, + "MOVING_THRESHOLD": { "addr": 24, "len": 4 }, + "MAXTEMP": { "addr": 31, "len": 1, "default":70 }, //'C + "MAX_VOLTAGE_LIMIT": { "addr": 32, "len": 2 }, + "MIN_VOLTAGE_LIMIT": { "addr": 34, "len": 2 }, + "SHUTDOWN": { "addr": 63, "len": 1, "default": 52 }, //bitfield + "TORQUE": { "addr": 64, "len": 1, "default": 0 }, + "LED": { "addr": 65, "len": 1, "default": 0}, + "ERROR": { "addr": 70, "len": 1, "readonly":true }, + "CURRENT_LIMIT": { "addr": 38, "len": 2 }, // mA + "GOAL_CURRENT": { "addr": 102, "len": 2 }, // mA see addr 38 + "PRESENT_CURRENT": { "addr": 126, "len": 2, "readonly":true }, // mA see addr 38 + /* XL430_W250(1060), XC430_W150(1070), XC430_W240(1080), XXL430_W250(1090), XXC430_W250(1160) + do not have GOAL_CURRENT 102, PRESENT_CURRENT 126, or CURRENT_LIMIT 38 */ + "GOAL_POSITION": { "addr": 116, "len": 4 }, // 360/4095 + "MOVING": { "addr": 122, "len": 1, "readonly":true }, + "POSITION": { "addr": 132, "len": 4, "readonly":true }, + } + }, + "XC430_LOAD": { + "type": "430", + "units": (360/4096), //a full 360' rotation is 4096 positional units + "table": { //control table v2.0 + "MODEL": { "addr": 0, "len": 2, "readonly":true }, + "MODE": { "addr": 11, "len": 1 }, + "MAXTEMP": { "addr": 31, "len": 1, "default":70 }, //'C + "SHUTDOWN": { "addr": 63, "len": 1, "default": 52 }, //bitfield + "TORQUE": { "addr": 64, "len": 1, "default": 0 }, + "LED": { "addr": 65, "len": 1, "default": 0}, + "ERROR": { "addr": 70, "len": 1, "readonly":true }, + //"CURRENT_LIMIT": { "addr": 38, "len": 2 }, // mA + //"GOAL_CURRENT": { "addr": 102, "len": 2 }, // mA see addr 38 + //"PRESENT_CURRENT": { "addr": 126, "len": 2, "readonly":true }, // mA see addr 38 + /* XL430_W250(1060), XC430_W150(1070), XC430_W240(1080), XXL430_W250(1090), XXC430_W250(1160) + do not have GOAL_CURRENT 102, PRESENT_CURRENT 126, or CURRENT_LIMIT 38 */ + "CURRENT_LOAD": { "addr": 126, "len": 2, "readonly":true }, + "GOAL_POSITION": { "addr": 116, "len": 4 }, // 360/4095 + "MOVING": { "addr": 122, "len": 1, "readonly":true }, + "POSITION": { "addr": 132, "len": 4, "readonly":true }, + } + } + } + + //was servo_model + static get_servo_model_class_name (servo_model_number) { //can be a number or a string representing a number. + let no = parseInt(servo_model_number) + switch(true) { //https://github.com/ROBOTIS-GIT/Dynamixel2Arduino/blob/master/src/actuator.h + case no===350: return "XL320"; + case no===1060: return "XC430_LOAD"; //XL430_W250 + case no===1070: return "XC430_LOAD"; //XC430_W150 + case no===1080: return "XC430_LOAD"; //XC430_W240 + case no===1090: return "XC430_LOAD"; //XXL430_W250 + case no===1160: return "XC430_LOAD"; //XXC430_W250 + case no>=1000 && no <=1090: return "XC430"; + case no>=1100 && no<=1180: return "XM540"; + case no>=1190 && no<=1240: return "XL330"; + case no>=1270 && no <=1280: return "XC430"; //XW430_T200 XW430_T333 + default: return false; + } + } + + static default_servos = [] //array of actual servos for testing purposes. The indexes of the + //array are servo_id (s). + + //do call init when dde is inited. + static init() { //yes, we could use classes, but the JSON syntax is compact and clear. + //330's and 430's have the same table, + console.log("top of Servo.init") + this.models.XL330 = JSON.parse(JSON.stringify(this.models.XC430)) //copy + this.models.XL330.type = "330" //maybe should be 430 do carlos will test. bug??? + //TODO: Wrap it in a function or make a test suite + if (Servo.set_servo_id_model(1, "asdfsadf")) {shouldnt("Unknown servo model accepted")} + + Servo.set_servo_id_model(1, "XL320") + if (Servo.default_servos[1].table.TORQUE.addr !== 24 + || Servo.default_servos[1].table.TORQUE.len !== 1 + ) { shouldnt("wrong torque address for XL320 servo") } + if (Servo.default_servos[1].table.ERROR.addr !== 50 + || Servo.default_servos[1].table.ERROR.len !== 1 + ) { shouldnt("wrong error address for XL320 servo") } + + Servo.set_servo_id_model(3, Servo.models.XL330) //temp setting to 330 for testing + if (Servo.default_servos[3].table.TORQUE.addr !== 64 + || Servo.default_servos[3].table.TORQUE.len !== 1 + ) { shouldnt("wrong torque address for XL330/XC430 servo") } + if (Servo.default_servos[3].table.ERROR.addr !== 70 + || Servo.default_servos[3].table.ERROR.len !== 1 + ) { shouldnt("wrong error address for XL330/XC430 servo") } + Servo.set_servo_id_model(3, Servo.models.XL320) //correct to default settings for servo id 3 + } + + //do fry verify: is there THERE A Dexter.reboot??? make sure it does the same thing. + static reboot(servo_id) { //just reboot it. No type, slope or offset so those values won't change. + if (typeof(servo_id) !== "number") error("Servo.reboot expects a numerical id") + return "S RebootServo " + servo_id + ";" + } + + + static robot_from_class_or_job(dex_inst_or_class, the_job) { + //Let's play find the robot! + let robot = Servo //just for testing, start robot as the Servo class + if (dex_inst_or_class instanceof Dexter) { out("robot "+dex_inst_or_class.name) + robot = dex_inst_or_class; + } + else if (the_job instanceof Job) { out("job "+the_job.name+" robot "+the_job.robot.name); + robot = the_job.robot; + } + out("Robot is "+robot.name) + return robot + } + + //fry rewrite: + static job_or_dexter_to_dexter(a_job_or_dexter){ + if(a_job_or_dexter instanceof Job){ + return a_job_or_dexter.robot + } + else if (a_job_or_dexter instanceof Dexter){ + return a_job_or_dexter + } + else if (a_job_or_dexter === Dexter){ + return Servo + } + else { + return Servo + } + } + + static set_servo_id_model(servo_id, model_or_servo_model_class_name, robot=undefined) { + //copy generic model info into id array. Or just point to it: + console.log("top of Servo.set_servo_id_model") + let model = model_or_servo_model_class_name + console.log("got model: " + model) + if (typeof(model) === "string") { //they gave us the model name + model = this.models[model] //so get them the model object + } + console.log("now model is: " + model) + console.log("!model is: " + !model) + if(!model){ + console.log("in model if, no model") + warning("Servo model: " + model + " is unknown.") + return false + } + else if (!model.table) { + console.log("in model else if, no table") + warning("Servo model : " + model + " doesn't have a 'table' property.") + return false + } + console.log("after using model: " + model) + let default_servos = this.default_servos //start with the global list + if (robot) { //if we actually have a robot + if (!robot.servos) {robot.servos = []} //retrofit a servos array as needed + default_servos = robot.servos //but use the robots list, not the global list. + } + default_servos[servo_id] = {"state":{}, "table": model.table, "type":model.type, "id":servo_id} + return true + } + + //fry rewrite: + static servo_id_to_servo = function(servo_id, a_dexter) { + let the_servos + if((a_dexter instanceof Dexter) && a_dexter.servos) { + the_servos = a_dexter.servos + } + else { the_servos = this.default_servos } + let servo = the_servos[servo_id] + return servo + } + + static servo_property(servo, property_name) { + if (!servo.table) { dde_error("no table found for servo") } + let table_item = servo.table[property_name] + if (!table_item) { + dde_error("Servo "+servo.it+" has no property "+property_name+". Properties:"+Object.keys(servo.table)) + } + return table_item + } + + + //make a servo_set instruction put in Dexter.servo_set (done later in this file?) + //if robot is not passed, it will default to the robot of the job that this instruction + //is running in. When we have do_list src code of Dexter.servo_set(1, "MAXTEMP", 123), + //we don't pass in a robot to Servo.servo_set and we use the job's robot as usual + static servo_set = function(servo_or_id=3, property_name, value, robot) { + let servo = servo_or_id + if (typeof(servo_or_id) === "number") { + servo = this.servo_id_to_servo(servo_or_id) + } + let table_item = this.servo_property(servo, property_name) + if (table_item.readonly) { + dde_error("Servo " + servo.id + " property:" + property_name + " is read only") + } + let addr = table_item.addr + let len = table_item.len + let hex = value_to_percent_hex(value, len) + return make_ins("S", "ServoSetX", servo.id, addr, hex.length, hex, robot) + //"S ServoSetX " + servo.id + " " + addr + " " + hex.length + " " + hex //orig James N code + } + + + static interpret_job_get (job_or_data, reqid, reqaddr, reqlen) { + let data = job_or_data //hope it's just a string + if (typeof(job_or_data) !== "string") { + data = job_or_data.user_data.servo_status + } + if (typeof(data) !== "string") return {"error": "INVALID RESPONSE"} + if (data.length == 0) return {"error": "NO RESPONSE"} + if (data.length < 11*3) return {"error": "INCOMPLETE RESPONSE:" + data.length + " bytes"} + if (!data.startsWith("FF FF FD 00 ")) return {"error": "BAD HEADER:"+data} + let id = parseInt(data.substr(4*3,1*3)) + let len = little_hex_to_integer(data.substr(5*3,2*3)) + len -= 4 //back out the instruction, error, and two CRC bytes to indicate the number of data bytes sent + if (data.length < 9*3 + len*3) return {"error": "INCOMPLETE RESPONSE:" + data.length + " bytes"} + if (data.substr(7*3,1*3) != "55 ") return {"error": "NOT A STATUS:"+data.substr(7*3,1*3)} + let err = little_hex_to_integer(data.substr(8*3,1*3)) + let errmsg = "" + switch(err&127) { //7 bit code, high bit hardware error flag + case 1: errmsg += " instruction failed";break; + case 2: errmsg += " bad instruction";break; + case 3: errmsg += " CRC error";break; + case 4: errmsg += " outside address range";break; + case 5: errmsg += " wrong length";break; + case 6: errmsg += " exceeds limit";break; + case 7: errmsg += " access denied";break; + } //https://emanual.robotis.com/docs/en/dxl/protocol2/#error + if (id != reqid) errmsg+=" wrong servo id returned:" + reqid + let addr = parseInt(reqaddr) + let val = little_hex_to_integer(data.substr(9*3,len*3)) + //debugger + let servo = this.default_servos[id] + /* TODO: Figure out how to check the servo type against the DDE read of the servos + if (job.robot && job.robot.defaults && job.robot.defaults.ServoSetup[id]) { + servo = job.robot.defaults.ServoSetup[id] + } + */ + let settype = servo.type + //TODO: Dex doesn't exist here. Where does DDE store the defaults data? + if (!settype && !Dex.defaults) { settype = "XL320" } //we've read Defaults, and there were no RebootServos, so 320 setup is default. + let type = servo.detected || settype //best guess, auto-diag wouldn't continue if this hadn't been proven + //let msg = "ID:"+id+" address:"+addr+" value:"+val+" len:"+len+" hex:"+data.substr(9*3,len*3) + let res = {"id":id + , "address":addr + , "value":val + , "len":len + , "hex":data.substr(9*3,len*3) + , "data":data + , "que":[] + } + let hw_err_reg = servo.table.ERROR.addr + let torque_reg = servo.table.TORQUE.addr + if (err >= 128) { + errmsg+=" hardware fault." + } + //out("readback servo "+id+" type "+type+" address " + addr + " for " + reqlen + " bytes") + switch(addr) { + case 0: + type=this.get_servo_model_class_name(val); //out("model "+val+" is type "+type) + //if (type=="XL330" && settype=="XC430") settype = type //430 setup works for 330's + //msg += " servo is type:"+type + res.type = type + /* + TODO, figure out how to check this against DDE's read of Defaults.make_ins. + It currently doesn't know that the default is XL-320s. + if (!Dex.S) S = {} + if (!Dex.S.RebootServo) Dex.S.RebootServo = [] + if (!Dex.S.RebootServo[id]) Dex.S.RebootServo[id] = {} + Dex.S.RebootServo[id].detected = type + Dex.S.RebootServo[id].id = id //yes, this is stupid, but it helps with the Settings control. + if (type!=settype) { console.log("setup:" + settype + " type:" + type) + if (settype) { + msg += " mismatched RebootServo "+id+" "+settype+"; in read .make_ins file" + } + else { + msg += ". Setup unknown, r 0 Defaults.make_ins; or other setup to check" + //byID("msg").value = "r 0 Defaults.make_ins; Read default setup" + } + } + servolist(); //update the list in the Settings control panel. + */ + + if (err) { //was an error, but maybe we just figured out the servo type so que a request here + res.que.push("r 0 #Servo "+id+" "+hw_err_reg+" 1; Read "+type+" hardware error") + } else { //no no errors, so continue to auto-diag the servo + res.que.push("r 0 #Servo "+id+" "+torque_reg+" 1; Check torque setting") + } + break; + case hw_err_reg: + if (val!=0) {errmsg += "Type:" + type + " hardware error status register:"+hw_err_reg+" value:" + val+" bits:"+val.toString(2) + switch(type) { + case "XL320": out("decoding 320 errors"+val+" "+(val& 1<<2)) + if (val & 1<<2) { //console.log("voltage") + errmsg += " ERROR BIT 2: VOLTAGE! Check 13 and 14 for min max voltage" + } + if (val & 1<<1) { //console.log("temp?") //very confusing docs not sure. + errmsg += " ERROR BIT 1: OVERTEMP! Check 12 for temp limit" + } + if (val & 1<<0) { //console.log("overtorque") + errmsg += " ERROR BIT 0: OVERTORQUE!" + } + break; + case "XL330": + case "XC430": + if (val & 1<<5) { + errmsg += " ERROR BIT 5: OVERTORQUE!" + } + if (val & 1<<4) { + errmsg += " ERROR BIT 4: UNDER-VOLTAGE!" + } + if (val & 1<<2) { + errmsg += " ERROR BIT 2: OVERTEMP! Check temp limit field" + } + if (val & 1<<0) { + errmsg += " ERROR BIT 0: OVER-VOLTAGE!" + } + break; + } + } //else {msg += " no hardware errors"} + break; + case torque_reg: + if (val==0) { + errmsg += " Torque disabled. Send 'S ServoSetX "+id+" "+torque_reg+" 1;' to re-enable torque" + res.que.push("S ServoSetX "+id+" "+torque_reg+" 1; Re-enable torque") // Should we do this automatically? + res.ready = false + } else { + //msg += " torque is enabled" + res.ready = true + } + break; + } + if (errmsg) { res.error = "ERROR:"+errmsg+""; res.err = err; } + return res + } + + //called by Dexter.constructor to supply the "default" value for the dexter_instance.servos prop. + //actually called by Dexter.make_new_robot which is called by the constructor. + //then after that default.makeins will "customize" the servos for + //that particular Dexter instance if need be + static make_servos_for_dexter() { + let result = [ + undefined, //servo_id 0 + Servo.servo_id_to_servo(1), //default the default servo into the default robot + undefined, //servo_id 2 + Servo.servo_id_to_servo(3) //default the default servo into the default robot + ] + result.span = result[1] //ie the same as servo_id 1 + result.roll = result[3] //ie teh same as servo_id 3 + return result + } + + +} //end of class Servo + +Servo.init() + +/* +Dexter.prototype.servo_set = function (servo_or_id=3, property_name, value) { + let dex_inst_or_class = this //'this' will be the Dexter class, or an instance of that class at define time + return function() { + let the_job = this //At run time, 'this' will be the job + let robot = Servo.robot_from_class_or_job(dex_inst_or_class, the_job) + return Servo.servo_set(servo_or_id, property_name, value) + } +} +Dexter.servo_set = Dexter.prototype.servo_set //backfill + */ + +Dexter.servo_set = Servo.servo_set +Dexter.prototype.servo_set = function(servo_or_id, property_name, value) { + let dexter_instance = this + return Servo.servo_set(servo_or_id, property_name, value, dexter_instance) //this must be the Dexter instance +} + + +Dexter.prototype.servo_get = function (servo_or_servo_id=3, property_name="MODEL") { +//this part can be done at job definition time (nothing) + let robot = this //'this' will be an instance of a Dexter or null, when we want the Job's robot as is the case when + //this method is called by Dexter.servo_get + return function() { //and these parts need to be done at job run time. + let the_job = this //At run time, 'this' will be the job + if(!robot) { robot = the_job.robot } + let servo = servo_or_servo_id + if (typeof(servo_or_servo_id) === "number") { + servo = Servo.servo_id_to_servo(servo_or_servo_id,robot) + } + if (!servo && property_name === "MODEL") { //if it's just to get the model + servo = {id: servo_or_servo_id, table: { "MODEL": { "addr": 0, "len": 2, "readonly":true }}} + } //make a fake entry to get us through, 'cause model is always there + if (!servo) { //still no servo? Error time + let servo_array = robot.servos + let servo_list = "" + for (let s in servo_array) { + servo_list += s.toString()+" " + } + if (robot && robot.servos) { servo_list += " in Robot: "+robot.name } + dde_error("Servo "+id+" does not exist. Know servo IDs are: "+servo_list) + return [] + } + let id = servo.id + //don't pre-set the servo table because the type of servo might change as the job runs + let table_item = Servo.servo_property(servo, property_name) + let addr = table_item.addr + let len = table_item.len + let file = "#Servo " + id + " " + addr + " " + len + return [ function(){console.log("Reading:"+file+" for job "+the_job.name)} + ,function() {the_job.user_data.servo_status = ""} + ,robot.read_from_robot(file, "servo_status") //be sure to ask the correct robot. + ,function() { //after data is returned in job user_data.servo_status, + let s = Servo.interpret_job_get(the_job, id, addr, len); //interpret it + the_job.user_data.servo_status = s; //put it in the job user_data.servo_status + if (s.error) { warning("Servo "+id+" "+s.error) } //warn about errors + if (s.err) { warning("Servo "+id+" hardware error: " + s.err)} + + //do fry: maybe remove the_job. ??? + if (the_job.robot && property_name === "MODEL") { //we are in a job and got a model + Servo.set_servo_id_model(id, s.type, robot) //so track it in the robot + //out(the_job.robot.servos) + } + } + ] + } +} + +//Dexter.servo_get = Dexter.prototype.servo_get //backfill + +Dexter.servo_get = function(servo_or_servo_id=3, property_name="MODEL"){ + return Dexter.prototype.servo_get.call(null, servo_or_servo_id, property_name) //pass in null so that we''ll get the Job's robot +} + +Dexter.prototype.servo_detect = function (servo_or_servo_id=3) { + let robot = this //'this' will be the Dexter class, or an instance of that class at define time + return function() { + let the_job = this //At run time, 'this' will be the job + if(!robot) { robot = the_job.robot } + return robot.servo_get(servo_or_servo_id, "MODEL") //just get the model, servo_get does the rest. + } +} + +//Dexter.servo_detect = Dexter.prototype.servo_detect //backfill +Dexter.servo_detect = function(servo_or_servo_id=3){ + return Dexter.prototype.servo_detect.call(null, servo_or_servo_id) //pass in null so that we''ll get the Job's robot +} + +//do fry put servo_check on Dexter menu??? no for now. +Dexter.prototype.servo_check = function (servo_or_servo_id=3) { + let robot = this //'this' will be the Dexter class, or an instance of that class at define time + return function() { + let the_job = this //At run time, 'this' will be the job + if(!robot) { robot = the_job.robot } + return [ robot.servo_get(servo_or_servo_id, "MODEL") + ,Control.loop(10, function(){ //run up to 10 commands from the que + let q = the_job.user_data.servo_status.que + if (que.length > 0) {return que.pop()} + return Control.break() //stop when we run out of suggestions + }) + ] + } +} + +Dexter.servo_check = function(servo_or_servo_id=3){ + return Dexter.prototype.servo_check.call(null, servo_or_servo_id) //pass in null so that we''ll get the Job's robot +} + +Dexter.prototype.move_until_torque = function(goal_degrees = 90, joint_number = 7, torque_limit = 500){ + let dexter_instance = this + return Dexter.move_until_torque(goal_degrees, joint_number, torque_limit, dexter_instance) +} + +//robot of null means use the_job.robot +Dexter.move_until_torque = function (goal_degrees = 90, joint_number = 7, torque_limit = 500, robot=null){ + if((joint_number !== 6) && (joint_number !== 7)) { + dde_error("Dexter.move_until_torque passed joint_number: " + joint_number + + "
but only 6 and 7 are valid now.") + } + return function(){ + let the_job = this + if(!robot) { robot = the_job.robot } + //at this point, robot is either a dexter_instance OR Dexter (the class) + let torque_timeout_ms = 200 //100ms is too short, 300 unnecessarily long + out("move_until_torque trying to reach " + goal_degrees + + "° or torque " + torque_limit + + " in " + torque_timeout_ms + "ms") + let first_move + //TODO: This XL-320 stuff should be abstracted away, see Servo.models.XL320.units + let deg_per_dynamixel_320_unit = 0.29 + let j6_offset = 512 + if(joint_number === 6) { + let du = Math.round(goal_degrees / deg_per_dynamixel_320_unit) + + j6_offset + first_move = robot.set_parameter("EERoll", du) + } + else if(joint_number === 7) { + let du = Math.round(goal_degrees / deg_per_dynamixel_320_unit) + first_move = robot.set_parameter("EESpan", du) + } + this.user_data.torque_clock_start_ms = Date.now() + return [first_move, + Control.loop(function(){ + let ma + let mt + let dur_since_start_ms = Date.now() - this.user_data.torque_clock_start_ms + if(joint_number === 6){ + ma = robot.robot_status[Dexter.J6_MEASURED_ANGLE] + mt = robot.robot_status[Dexter.J6_MEASURED_TORQUE] + } + else if(joint_number === 7){ + ma = robot.robot_status[Dexter.J7_MEASURED_ANGLE] + mt = robot.robot_status[Dexter.J7_MEASURED_TORQUE] + } + else { + shouldnt("Dexter.move_until_torque passed invalid joint_number of: " + joint_number) + } + if ((dur_since_start_ms > torque_timeout_ms) && (Math.abs(mt) >= torque_limit)) { + out("Torque limit of: " + torque_limit + " reached at: " + mt + ", at " + ma + "°") + return false //stop looping, we're done + } + else if(similar(ma, goal_degrees, 2)) { + out("Target angle of: " + goal_degrees + "° reached at: " + ma + "°, at torque: " + mt) + return false //stop looping, we're done + } + else { + out("Joint " + joint_number + " now at " + ma.toFixed(15) + "° and torque: " + mt + " after " + dur_since_start_ms + "ms") + return true + } + }, + function() { + return robot.get_robot_status() + }), + function(){ + //tell the robot to go where it IS, thus stopping its attempt to get to the orig goal + //important when we've stopped because we were within a tolerance but not dead on, + //or we stopped due to the torque limit + if(joint_number === 6) { + let cur_degrees = robot.robot_status[Dexter.J6_MEASURED_ANGLE] + let cur_du = Socket.degrees_to_dexter_units(cur_degrees, 6) + out("Joint 6 set to where it already is: " + cur_degrees + "°.") + return robot.set_parameter("EERoll", cur_du) + } + else if(joint_number === 7) { + let cur_degrees = this.robot.robot_status[Dexter.J7_MEASURED_ANGLE] + let cur_du = Socket.degrees_to_dexter_units(cur_degrees, 7) + out("Joint 7 set to where it already is: " + cur_degrees + "°") + return robot.set_parameter("EESpan", cur_du) + } + } + ] + } +} + +Dexter.prototype.move_until_static = function(goal_degrees = 90, joint_number = 7, degree_tolerance=0.01){ + let dexter_instance = this + return Dexter.move_until_static(goal_degrees, joint_number, degree_tolerance, dexter_instance) +} + + +//doesn't need a torque, full strength of servo. maybe more useful. +//robot of null means use the_job.robot +Dexter.move_until_static = function (goal_degrees=20, joint_number = 7, degree_tolerance=0.01, robot=null){ + if((joint_number !== 6) && (joint_number !== 7)) { + dde_error("Dexter.move_until_static passed joint_number: " + joint_number + + "
but only 6 and 7 are valid now.") + } + let prev_mas = [] + let prev_mas_full_length = 4 //2 is too short: motor doesn't move enough + return function(){ + out("move_until_static trying to reach " + goal_degrees + "°") + let the_job = this + if(!robot) { robot = the_job.robot } + let first_move + let new_du = Socket.degrees_to_dexter_units(goal_degrees, joint_number) + if(joint_number === 6) { + first_move = robot.set_parameter("EERoll", new_du) + } + else if(joint_number === 7) { + first_move = robot.set_parameter("EESpan", new_du) + } + return [first_move, + Control.loop(function(){ + let ma = this.robot.rs.measured_angle(joint_number) + out("Joint " + joint_number + " now at " + ma + "°") + if (similar(ma, goal_degrees, degree_tolerance)) { + out("Measured angle: " + ma + "° is within: " + degree_tolerance + " of goal_degrees: " + goal_degrees) + prev_mas = [] + return false + } + else if(prev_mas.length < prev_mas_full_length) { + prev_mas.push(ma) + return true //keep looping + } + else { //we know prev_mas.length == prev_mas_full_length + for(let prev_ma of prev_mas){ + if(!similar(ma, prev_ma, degree_tolerance)){ + prev_mas.shift() //take off first elt of prev_mas + prev_mas.push(ma) + return true //continue looping + } + } + //prev_mas and ma are similar so no movement of joint, so we're done + out("last " + (prev_mas_full_length + 1) + " measured angles stopped moving and within: " + degree_tolerance + " of: " + ma + + "°
Prev angles: " + prev_mas.join(", ")) + prev_mas = [] //must do or will not be reset when clikcing on job button the 2nd time + return false //done, the usual stop case. + } + }, + function() { + return robot.get_robot_status() + }), + function(){ + //tell the robot to go where it IS, thus stopping its attempt to get to the orig goal + //important when we've stopped because we were within a tolerance but not dead on, + //or we stopped due to the torque limit + let ma = this.robot.rs.measured_angle(joint_number) + let du = Socket.degrees_to_dexter_units(ma, joint_number) + out("Joint " + joint_number + " set to where it is: " + ma + "°") + if(joint_number === 6) { + return robot.set_parameter("EERoll", du) + } + else if(joint_number === 7) { + return robot.set_parameter("EESpan", du) + } + } + ] + } +} + +//Error: In Socket.send, attempt to send instruction: 11,-1,1617918232780,,g but still waiting for previous instruction: 9,1,1617917826237,,P,100544.02707910512,208196.21318379667,405642.68474489666,-289838.8979286934,0,693,898 + +Dexter.prototype.twist = function(goal_degrees){ + let dexter_instance = this + return Dexter.move_until_static(goal_degrees, 6, undefined, dexter_instance) +} +Dexter.twist = function(goal_degrees=0){ + return Dexter.move_until_static(goal_degrees, 6, undefined) +} + +Dexter.prototype.grasp = function(min_degrees=20){ + let dexter_instance = this + return Dexter.move_until_static(min_degrees, 7, undefined, dexter_instance) +} + +Dexter.grasp = function(min_degrees=20){ + return Dexter.move_until_static(min_degrees, 7, undefined) +} + +Dexter.prototype.ungrasp = function(max_degrees=270){ //theoretical limit 296 but without perfect calibration, best to set it lower + let dexter_instance = this + return Dexter.move_until_static(max_degrees, 7, undefined, dexter_instance) +} + +Dexter.ungrasp = function(max_degrees=270){ //theoretical limit 296 but without perfect calibration, best to set it lower + return Dexter.move_until_static(max_degrees, 7, undefined) +} + +/* +function(servo_or_id=3, property_name="MODEL") { + let robot = Servo //just for testing + if (this instanceof Job) {out("job "+this.name);robot = this.robot} + if (this instanceof Dexter) {out("robot "+this.name);robot = this} + out(robot.name) + return function() { //and these parts need to be done at job run time. + Dexter.servo_get(servo_or_id, property_name) + } + } +*/ + +/* example +new Job({ //test + name: "test_servos", user_data: {count: 0}, + do_list: [ IO.out("starting at "+Date()) + //,Dexter.read_from_robot("#Servo 3 0 2", "servo_status") + //,function() { out("servo returned:"+this.user_data.servo_status+" good luck with that") } + ,Dexter.servo_get(3, "MODEL") //instead of the above, just do this + ,function() { + let servo = this.user_data.servo_status; + out(servo.id+" is a "+servo.type); + out(Servo.servo_id_to_servo(3, this) === this.robot.servos[3]) //test that we did learn it + } + //,Dexter.dexter1.servo_get(3, "MODEL")() //as expected, fails; there is no dexter1 robot. move to doc example for servo-get + //,Dexter.servo_get(2, "MODEL") //as expected, fails; there is no servo id 2. ,,, move as above + ,Dexter.servo_detect(1) //just calls servo_get(id, "MODEL"), if found, servo is added to the robot. + //,"S ServoSetX 1, 116, 12, %01%00%00%00" //only if it's a 430 ,, move to doc for servp_set + //,"S ServoSetX 1, 30, 6, %01%00" //only if it's a 320 + //,"S ServoSet2X 1, 30, 1" //only if it's a 320, can't support a 430's 4 byte position + ,Dexter.servo_set(1, "GOAL_POSITION", 400) + ,Dexter.servo_set(Dexter.dexter0.servos.roll, "TORQUE", 0) //must specify robot to use named servos. sigh. + + ,function() {let servo_stat = this.user_data.servo_status; out(servo_stat)} + ] +}) +*/ + +/* Now in testsuites.js +new TestSuite("servo_interpret_job_get", + ['Servo.servo_set(Servo.roll, "GOAL_POSITION", 10)', + "[undefined, undefined, undefined, undefined, 'S', 'ServoSetX', 3, 30, 6, '%0A%00', undefined]" + ], + [`similar(make_ins("S", "ServoSetX", Dexter.dexter0.servos.roll.table.LED.addr, 1), + [undefined, undefined, undefined, undefined, "S", "ServoSetX", 25, 1])`, + "true" + ], + [`similar(Servo.interpret_job_get({"user_data": {"servo_status":""}}, 1, 0, 2) + , {"error":"NO RESPONSE"})` + , "true" + , "failed to detect empty reply" + ] + ,[`similar(Servo.interpret_job_get({"user_data": {"servo_status":"FF FF FD 00"}}, 1, 0, 2) + , {error: "INCOMPLETE RESPONSE:11 bytes"})` + , "true" + ] + ,[`similar( + Servo.interpret_job_get({"user_data": {"servo_status":"FF FF FD AB "}}, 1, 0, 2) + , {error: "BAD HEADER:FF FF FD AB "})` + , "true" + ] + ,[`similar( + Servo.interpret_job_get({"user_data": {"servo_status":"FF FF FD 00 "}}, 1, 0, 2) + ,{error:"NOT A STATUS: "})` + , "true" + ] + ,[`similar( + Servo.interpret_job_get({"user_data": {"servo_status":"FF FF FD 00 01 08 00 55 00 "}}, 1, 0, 2) + ,{error: "INCOMPLETE RESPONSE:37 bytes"})` + , "true" + ] + ,[`similar( + Servo.interpret_job_get({"user_data": {"servo_status":"FF FF FD 00 01 08 00 55 80 5E 01 00 00 "}}, 1, 0, 2).type + ,"XL320")` + , "true" + ] + ,[`similar( + Servo.interpret_job_get({"user_data": {"servo_status":"FF FF FD 00 01 08 00 55 80 08 04 02 00 "}}, 1, 2, 2).error + ,"ERROR: hardware fault.")` + , "true" + ] +) */ +// ,{address: 0, err: 128, error: "ERROR: hardware fault.", hex: "5E 01 00 00 ", id: 1, len: 4, type: "330", value: 350})` + +//TestSuite.servo_interpret_job_get.constructor.set_state_and_resume({suites: [TestSuite.servo_interpret_job_get]}) \ No newline at end of file diff --git a/core/socket.js b/core/socket.js index ea79ac16..cd05c00b 100755 --- a/core/socket.js +++ b/core/socket.js @@ -309,6 +309,13 @@ var Socket = class Socket{ } return instruction_array_copy } + else if (oplet === "M"){ //Move to + let instruction_array_copy = instruction_array.slice() + instruction_array_copy[Instruction.INSTRUCTION_ARG0] = instruction_array_copy[Instruction.INSTRUCTION_ARG0] * 1000000 //convert meters to microns + instruction_array_copy[Instruction.INSTRUCTION_ARG1] = instruction_array_copy[Instruction.INSTRUCTION_ARG1] * 1000000 //convert meters to microns + instruction_array_copy[Instruction.INSTRUCTION_ARG2] = instruction_array_copy[Instruction.INSTRUCTION_ARG2] * 1000000 //convert meters to microns + return instruction_array_copy + } else if (oplet === "S") { const name = instruction_array[Instruction.INSTRUCTION_ARG0] const args = instruction_array.slice(Instruction.INSTRUCTION_ARG1, instruction_array.length) @@ -428,6 +435,13 @@ var Socket = class Socket{ } return instruction_array_copy } + else if (oplet === "M"){ //Move to + let instruction_array_copy = instruction_array.slice() + instruction_array_copy[Instruction.INSTRUCTION_ARG0] = instruction_array_copy[Instruction.INSTRUCTION_ARG0] / 1000000 //convert microns to meters + instruction_array_copy[Instruction.INSTRUCTION_ARG1] = instruction_array_copy[Instruction.INSTRUCTION_ARG1] / 1000000 //convert microns to meters + instruction_array_copy[Instruction.INSTRUCTION_ARG2] = instruction_array_copy[Instruction.INSTRUCTION_ARG2] / 1000000 //convert microns to meters + return instruction_array_copy + } else if (oplet === "S") { const name = instruction_array[Instruction.INSTRUCTION_ARG0] const args = instruction_array.slice(Instruction.INSTRUCTION_ARG1, instruction_array.length) @@ -685,9 +699,9 @@ var Socket = class Socket{ let job_instance = Job.job_id_to_job_instance(job_id) //out(job_instance.name + " " + rob.name + " bottom of Socket.on_receive with: " + robot_status) - if(oplet === "M"){ //todo just temporary for testing. remove. - robot_status[Dexter.ERROR_CODE] = 9 - } + //if(oplet === "M"){ //todo just temporary for testing. remove. + // robot_status[Dexter.ERROR_CODE] = 9 + //} dexter_instance.robot_done_with_instruction(robot_status) //robot_status ERROR_CODE *might* be 1 } diff --git a/core/storage.js b/core/storage.js index 0f15ec25..7e2e4319 100644 --- a/core/storage.js +++ b/core/storage.js @@ -348,9 +348,10 @@ function read_file_async_from_dexter_using_node_server(dex_instance, path, callb } let url = "http://" + dex_instance.ip_address + "/edit?edit=" + path //example: "http://192.168.1.142/edit?edit=root/dde_apps/dde_init.js" whereby no beiginning slas actually means going from the server's top level of file system let req = { - url: url, - encoding: null + url: url //, + //encoding: null //commenting out gives us a string of chars which is nearly always desirable. } + let content_array = get_page(req) //does not error if file doesn't exist so ... let content = content_array.toString("binary"); //Strings can contain binary file content let the_err = null @@ -1254,7 +1255,7 @@ folder_name_version_extension("foo_002.txt") => ["foo", 2, "txt"] function folder_name_version_extension(path){ path = make_full_path(path) - path = adjust_path_to_os(path) + path = convert_backslashes_to_slashes(path) //Feb 2024 should have slashes! //adjust_path_to_os(path) let folder_parts = path.split("/") //folder_parts.shift() //takes off the initial "" let names_ver_ext = folder_parts.pop() diff --git a/core/utils.js b/core/utils.js index 7c099f27..7195119c 100644 --- a/core/utils.js +++ b/core/utils.js @@ -344,6 +344,32 @@ function get_class_of_instance(instance){ module.exports.get_class_of_instance = get_class_of_instance +function value_to_percent_hex (num, size) { + let num_str = (num >>> 0).toString(16).toUpperCase() +//the 0 bit shift tricks it into doing two's compliment for negative values + num_str = ("00000000"+num_str).substr(size*-2) + let str = "" + for(let i = size*2-2; i >= 0 ; i -= 2){ + str += "%" + num_str.substr(i,2) + } + return str +} + +module.exports.value_to_percent_hex = value_to_percent_hex + +function little_hex_to_integer(hex) { //converts little endian hex string to int + let sum = 0; + hex = hex.split(' ').join(''); //normalize out spaces + for (let i=hex.length/2-1; i>=0; i--) { //console.log(i, sum) + sum *= 256 + sum += parseInt('0x'+hex.substr(i*2,2),16) + } + return sum +} + +module.exports.little_hex_to_integer = little_hex_to_integer + + //______color_______ function rgb(r, g, b){return "rgb("+r+", "+g+", "+b+")"} //this string used in css diff --git a/doc/guide.html b/doc/guide.html index f795bf86..b170d260 100644 --- a/doc/guide.html +++ b/doc/guide.html @@ -8,8 +8,8 @@
About This is Dexter Development Environment
- version: 3.9.0
- released: Feb 9, 2024 + version: 3.9.1
+ released: Mar 23, 2024

DDE helps you create, debug, and send software to a Dexter robot. You can use any JavaScript augmented with DDE-specific functions to help find out about, diff --git a/doc/ref_man.html b/doc/ref_man.html index ce562f47..39ca5e41 100644 --- a/doc/ref_man.html +++ b/doc/ref_man.html @@ -6,8 +6,6 @@ .doc_details summary { font-weight: 600; } - -
I/O
CSV CSV stands for "Comma Separated Value". It is a file format for spreadsheets @@ -6985,7 +6983,79 @@ Dexter.pid_move_to([0, 0.1, 0.2])
-
read_file +
End Effector Instructions +Dexter's Joint 6 is typically a "twist wrist". Joint 7 is typically a gripper. +The motors for these joints can be tweaked using the Servo class. +But for the common gross motions, use the below Job instructions. +

+ Like most Dexter instructions, you can prefix these with "Dexter." to use the + robot of the Job, or "Dexter.dexter0." to send the instructions to a particular Dexter. + +
move_until_torque + Causes joint 6 or 7 to move until it reaches a certain torque, at which point motion stops.
+ Parameters:
+ goal_degrees A number. Default: 90
+ joint_number 6 or 7. Default: 7
+ torque_limit A number. Default: 500
+ Example: +
new Job({name: "move_ee",
+         do_list: [Dexter.move_until_torque(45, 6, 450)]
+})
+
+ +
move_until_static + Like move_until_torque but doesn't take a torque argument. + This instruction stops trying to move the joint when the joint is blocked from moving. + If joint 6 or 7 is blocked from moving, it will overheat if it continues to try to + move for several seconds. This can happen when j7 gripper is closed as it can be, + or joint 6 is trying to twist a bolt that's frozen. + This is often more convenient to use than move_until_torque. + Parameters:
+ goal_degrees A number. Default: 20
+ joint_number A number. Default: 7
+ degree_tolerance A number. Default: 0.01
+ Example: +
new Job({name: "move_ee",
+         do_list: [Dexter.move_until_static(100, 7)]
+})
+
+ +
twist + Twist the wrist (joint 6). + Parameter:
+ goal_degrees A number. Default: 0 + Range Dexter.J6_ANGLE_MIN to Dexter.J6_ANGLE_MAX
+ Example: +
new Job({name: "move_ee",
+         do_list: [Dexter.twist(45)]
+})
+
+ +
grasp + Close the gripper (Joint 7) until it can't move due to gripping an object, + or reaches 20 degrees, whichever occurs first.
+ Parameter:
+ min_degrees A number. Default: 20
+ Example: +
new Job({name: "move_ee",
+         do_list: [Dexter.grasp()]
+})
+
+
ungrasp + Open the gripper (Joint 7) until it can't move due to touching something + or reaches max_degrees. whichever occurs first.
+ Parameter:
+ max_degrees Default: 270
+ The theoretical max_degrees is 296 but without perfect calibration, + its best to set it lower.
+ Example:
+
new Job({name: "move_ee",
+         do_list: [Dexter.ungrasp()]
+})
+
+
+ +
read_file This instruction allows you to transfer the content of a file on Dexter into a user_data variable in the enclosing Job.

@@ -8755,7 +8825,96 @@ modbus_serial.
+
Servo + Dexter's, as of March 2024, typically have 7 joints, each with its own motor. + Joints 6 and 7 are different than the others. The Servo class helps + control the fine points of these motors.
+ For more typical control via Job instructions, see + End Effector Instructions + +

+

Terminology

+ servo_firmware_type A positive integer representing the low level type of a motor on Dexter
+   Examples: +
    +
  • 1 (nothing: doesn't exist)
    • +
  • 8 (steppers, joint 1 thru 5)
    • +
  • 320 (possibly for j6 & j7)
    • +
  • 430 (possibly for j6 & j7)
    • +
+ servo_model_class_name A string. Examples: "XL320", "XL330", "XC430" "XC430_LOAD"
+ servo_model_number An Integer. Examples: 350, 1200, 1240, 1080
+ servo_model_name A string. Examples: "XL320", "XL330-M288-T", "XC330-M288-T" "XC430-W240-T" (one to one with servo_model_number)
+ servo_id An integer designating a servo on a Dexter.
+   Examples: 3 for J6, 1 for j7, (j1 thru 5 not in this category because are not servos, they are steppers)
+ +

Data

+ Servo.models Name-value pairs where the name is a servo_model_class_name + and the value is lots of data about that model class. Use DDE's inspector to see it.
+ Servo.default_servos An array of actual servos data for testing purposes. + The indexes of the array are servo_id's. + servo_status A json object containing the status of a servo on a Dexter. + Used in a_job.user_data.servo_status
+ +

Methods

+ Servo.set_servo_id_model Set values in a servo object.
+ Parameters:
+ servo_id
+ model_or_servo_model_class_name
+ robot +

+ Servo.servo_id_to_servo Returns the servo data.
+ Parameters:
+ servo_id
+ a_dexter +

+ Servo.servo_property Return the value of property_name in the servo data table.
+ Parameters:
+ servo The servo data.
+ property_name A string. + + +

Example uses in a Job

+ 

+new Job({ //test
+    name: "test_servos", user_data: {count: 0},
+    do_list: [ IO.out("starting at "+Date())
+        //,Dexter.read_from_robot("#Servo 3 0 2", "servo_status")
+        //,function() { out("servo returned:"+this.user_data.servo_status+" good luck with that") }
+        ,Dexter.servo_get(3, "MODEL") //instead of the above, just do this
+        ,function() {
+            let servo = this.user_data.servo_status;
+            out(servo.id+" is a "+servo.type);
+            out(Servo.servo_id_to_servo(3, this) === this.robot.servos[3]) //test that we did learn it
+        }
+        //,Dexter.dexter1.servo_get(3, "MODEL")() //as expected, fails; there is no dexter1 robot. move to doc example for servo-get
+        //,Dexter.servo_get(2, "MODEL") //as expected, fails; there is no servo id 2.  ,,, move as above
+        ,Dexter.servo_detect(1) //just calls servo_get(id, "MODEL"), if found, servo is added to the robot.
+        //,"S ServoSetX 1, 116, 12, %01%00%00%00" //only if it's a 430  ,, move to doc  for servp_set
+        //,"S ServoSetX 1, 30, 6, %01%00" //only if it's a 320
+        //,"S ServoSet2X 1, 30, 1" //only if it's a 320, can't support a 430's 4 byte position
+        ,Dexter.servo_set(1, "GOAL_POSITION", 400)
+        ,Dexter.servo_set(Dexter.dexter0.servos.roll, "TORQUE", 0) //must specify robot to use named servos. sigh.
+
+        ,function() {inspect(this.user_data.servo_status)}
+    ]
+})
+ +
Dex (Jobless instructions) diff --git a/doc/release_notes.html b/doc/release_notes.html index cdcd8606..17a006ff 100644 --- a/doc/release_notes.html +++ b/doc/release_notes.html @@ -6,7 +6,51 @@ .doc_details summary { font-weight: 600; } -
v 3.9.0, Feb 9,, 2024 +
v 3.9.1, Mar 23, 2024 + Highlights: new Servo class. + 5 new end-effector Job instructions. + "M" oplet supported in the simulator. + No error with non-existent Defaults.make_ins file. +
    +
  • Missing function Gamepad.button_number_to_name is now defined.
    • +
  • In function init_view_eye, removed setting of boundaries.
    • +
  • Job.prototype.if_robot_status_error_default no longer + sets errors.log to empty content.
    • +
  • Job.prototype.if_robot_status_error_default now prints out + only the last line of errors.log.
    • +
  • Job.prototype.rs_to_error_message: extended error message.
    • +
  • "M" oplet now supported in the simulator.
    • +
  • Socket.instruction_array_degrees_to_arcseconds_maybe added "M" oplet support.
    • +
  • Socket.instruction_array_arcseconds_to_degrees_maybe added "M" oplet support.
    • +
  • Job.prototype.if_robot_status_error_default: improved error message.
    • +
  • Job.prototype.rs_to_error_message improved error message
    • +
  • Utils fns: value_to_percent_hex and little_hex_to_integer now defined.
    • +
  • Robustified function out so it doesn't error when called before + DDE window is up.
    • + +
  • New Servo class. Documented in Ref Man/Robot/Servo. + Test Suite extended to test some of this new functionality. +
    • +
  • New end effector Dexter instructions: +
      +
    • Dexter.move_until_torque
      • +
    • Dexter.move_until_static
      • +
    • Dexter.twist
      • +
    • Dexter.grasp
      • +
    • Dexter.ungrasp
      • +
    + Documented in RefMan/Robot/Dexter/Dexter Instructions/End Effector Instructions. +
    • + +
  • When /serve/samba/share/Default.make_ins doesn't exist on Dexter, + running a job no longer errors. + A warning message is printed, "default" versions of + the setting in Defaults.make_ins are used, and the job proceeds. +
    • +
+
+ +
v 3.9.0, Feb 9, 2024 Highlights: File menu items requiring choosing a file fixed. New Dexter.j_move instuction
    diff --git a/gamepad.js b/gamepad.js index f4f3c81d..cbe775dc 100644 --- a/gamepad.js +++ b/gamepad.js @@ -121,6 +121,20 @@ var Gamepad = class Gamepad { else { return null } } + static button_number_to_name(axes_num){ + switch (axes_num) + { + case -1: + return "LEFT_STICK_X" + case -2: + return "LEFT_STICK_Y" + case -3: + return "RIGHT_STICK_X" + case -4: + return "RIGHT_STICK_Y" + } + } + static down_keys(device="keyboard_gamepad", which_gamepad=0){ const result = [] if (device.includes("keyboard")){ @@ -186,7 +200,7 @@ var Gamepad = class Gamepad { let val = gp.axes[i] if ((val >= 0.1) || (val <= -0.1)) { //joysticks are "noisy" so filter out values close to 0 let axes_num = (i + 1) * -1 //axes_num is typically -1 thru -4 - var axes_name = gamepad_button_number_to_name(axes_num) + var axes_name = Gamepad.button_number_to_name(axes_num) result.push({gamename: axes_name, gamecode: axes_num, //will be -1, -2, -3, or -4 keycode: null, diff --git a/load_job_engine.js b/load_job_engine.js index 833173b9..94965c0a 100644 --- a/load_job_engine.js +++ b/load_job_engine.js @@ -15,6 +15,7 @@ var {convertArrayBufferToString, convertStringToArrayBuffer, serial_connect_low_level, serial_send_low_level, serial_connect, serial_send, serial_flush, serial_disconnect, serial_disconnect_all} = require("./core/serial.js") +require("./core/serial.js") //defines globalThis.Servo var {array_to_html_table, array_to_csv, csv_to_array, @@ -70,7 +71,8 @@ var {IO} = require('./core/instruction_io.js') require('./core/instruction_j_move.js') require('./core/dexter_defaults.js') var Job = require('./core/job.js') -require('./core/dex.js') //makes Dex global +require('./core/dex.js') //makes Dex global +require('./core/servo.js') //makes Servo global var {Messaging, MessStat} = require('./core/messaging.js') var {linux_error_message} = require('./core/linux_error_message.js') diff --git a/low_level_dexter/ViewEyeRealTime.js b/low_level_dexter/ViewEyeRealTime.js index da9dd9fc..89377f7b 100644 --- a/low_level_dexter/ViewEyeRealTime.js +++ b/low_level_dexter/ViewEyeRealTime.js @@ -300,6 +300,7 @@ function init_view_eye(){ Dexter.move_all_joints(0, 0, 0, 0, 0), Robot.label("loop_start"), make_ins("w", 42, 64), + /* These should only be set in defaults.make_ins file make_ins("S", "J1BoundryHigh",648000*_arcsec), make_ins("S", "J1BoundryLow",-648000*_arcsec), make_ins("S", "J2BoundryLow",-350000*_arcsec), @@ -310,7 +311,7 @@ function init_view_eye(){ make_ins("S", "J4BoundryHigh",490000*_arcsec), make_ins("S", "J5BoundryLow",-648000*_arcsec), make_ins("S", "J5BoundryHigh",648000*_arcsec), - + */ make_ins("S", "MaxSpeed", Number(MaxSpeed_id.value)), make_ins("S", "Acceleration",Number(Accel_id.value)), make_ins("S", "StartSpeed",Number(StartSpeed_id.value)), diff --git a/package.json b/package.json index 756ecfac..30de9f3c 100644 --- a/package.json +++ b/package.json @@ -1,8 +1,8 @@ { "name": "dexter_dev_env", "productName": "dexter_dev_env", - "version": "3.9.0", - "release_date": "Feb 9, 2024", + "version": "3.9.1", + "release_date": "Mar 23, 2024", "description": "Dexter Development Environment for programming the Dexter robot.", "author": "Fry", "license": "GPL-3.0", diff --git a/test_suite/file_system_testsuite.js b/test_suite/file_system_testsuite.js index 3175afa3..515e48ed 100644 --- a/test_suite/file_system_testsuite.js +++ b/test_suite/file_system_testsuite.js @@ -14,7 +14,8 @@ new TestSuite("file_system", } )`] ) - + +//in order for these tests to pass on multiple new TestSuite("folder_name_version_extension", ['folder_name_version_extension("foo")', '[dde_apps_folder, "foo", null, null]'], ['folder_name_version_extension("foo.txt")', '[dde_apps_folder, "foo", null, "txt"]'], diff --git a/test_suite/test_suites.js b/test_suite/test_suites.js index 2fd9e4a5..40d9c2f6 100644 --- a/test_suite/test_suites.js +++ b/test_suite/test_suites.js @@ -383,4 +383,48 @@ new TestSuite("trim_comments_from_front", new TestSuite("Kin.predict_move_dur", ["Kin.predict_move_dur([0,0,0,0,0], [20,30,40,0,0])", "1.3333333333333333"], ["Kin.predict_move_dur([-10,0,0,0,0], [-60,30,40,0,0])", "1.6666666666666667"] +) + +new TestSuite("servo_interpret_job_get", + ['Servo.servo_set(Servo.roll, "GOAL_POSITION", 10)', + "[undefined, undefined, undefined, undefined, 'S', 'ServoSetX', 3, 30, 6, '%0A%00', undefined]" + ], + [`similar(make_ins("S", "ServoSetX", Dexter.dexter0.servos.roll.table.LED.addr, 1), + [undefined, undefined, undefined, undefined, "S", "ServoSetX", 25, 1])`, + "true" + ], + [`similar(Servo.interpret_job_get({"user_data": {"servo_status":""}}, 1, 0, 2) + , {"error":"NO RESPONSE"})` + , "true" + , "failed to detect empty reply" + ] + ,[`similar(Servo.interpret_job_get({"user_data": {"servo_status":"FF FF FD 00"}}, 1, 0, 2) + , {error: "INCOMPLETE RESPONSE:11 bytes"})` + , "true" + ] + ,[`similar( + Servo.interpret_job_get({"user_data": {"servo_status":"FF FF FD AB "}}, 1, 0, 2) + , {error: "BAD HEADER:FF FF FD AB "})` + , "true" + ] + ,[`similar( + Servo.interpret_job_get({"user_data": {"servo_status":"FF FF FD 00 "}}, 1, 0, 2) + ,{error:"NOT A STATUS: "})` + , "true" + ] + ,[`similar( + Servo.interpret_job_get({"user_data": {"servo_status":"FF FF FD 00 01 08 00 55 00 "}}, 1, 0, 2) + ,{error: "INCOMPLETE RESPONSE:37 bytes"})` + , "true" + ] + ,[`similar( + Servo.interpret_job_get({"user_data": {"servo_status":"FF FF FD 00 01 08 00 55 80 5E 01 00 00 "}}, 1, 0, 2).type + ,"XL320")` + , "true" + ] + ,[`similar( + Servo.interpret_job_get({"user_data": {"servo_status":"FF FF FD 00 01 08 00 55 80 08 04 02 00 "}}, 1, 2, 2).error + ,"ERROR: hardware fault.")` + , "true" + ] ) \ No newline at end of file