How do we upload a move to the memory of the controllers?
Once we have the first movement created, what we are going to do is send it to the controllers to save it in memory. In this way the PC will no longer be the one who indicates in real time the position of the servos in the movements.
Its reproduction can be ordered through the server or the R2-Net library.
For this we access the menu “Export L-R EEPROM”
We access the data exchange screen between the PC and the drivers. This screen indicates different data:
- List with the positions of each movement and what they used.
- Used and available memory of the drivers.
- Buttons to send new movements or re-record them.
- Button to delete the last movement sent.
- Button to format the memory.
- A control panel to prove that the movements have been recorded correctly.
Send motion to controller memory
To add the movement, just press the “SEND PROGRAM” button. A progress bar will appear and a line will be added to the move list.
The list of movements shows:
- Column 1: Movement number (not used).
- Column 2: The name that we have assigned to the loop.
- Column 3: The starting position is the number that we must indicate to trigger this movement.
- Column 4: The final position of the movement.
- Column 5: The memory occupied by the movement.
Test our recorded movement
All we have to do is click on the Play icon in the “EEPROM CONTROLS” box. The movement must be launched as it has been created.
It is possible that we notice more fluidity or faster in the execution of the movement when we make Play from here since the reproduction in real time from the PC is subject to many software delays in the system … However, the preset time of speed (in milli seconds) if it will be real in the reproduction of the controller.
How do I add this move to the R2-Net server?
In the server administration section there is a form to create and edit the sequences (movements). The start position box must be the numeric value of the controller sequence list.
In a case like this where we have three movements memorized, the corresponding sequence of the droid must contain the value of the column “P-Start” … in such a way that it would be:
- Sequence 1 will start with the value 0.
- Sequence 2 will start with the value 116.
- Sequence 3 will start with the value 232.
Important: Depending on the size and complexity of each movement, the “P-Start” values may change. Any changes made to movements can alter this value and we may have unwanted visible results or movements that are not executed. So it is important that the start positions match those on the R2-Net Server or are called from the library for arduino.
- The square button (Stop): Stops the memory playback of the movement.
- The Play button: Plays the loaded movement in the position it is in.
- The button with the down arrow: Loads the movement we select in the list and plays it.
- The 4-arrow cross button: allows you to exit the loop in motion without reaching the number of programmed repetitions.
Note: There are certain movements that can be duplicated with different speed of reproduction, this can be practical to give realism to the droid or to show more altered states.