PLEN Playground - Forum

Hi dielessen, sorry for delay in this reply to you X(

The firmware of PLEN2 can control a servo motor by bit-based PWM (written in JointController.cpp).
The Arduino device on PLEN2 (Atmega32u4) supports bit width as 10 bit (= 0 ~ 1023).
Thus, using the helper program, you can see a servo movement when input 10 bit value.

PWM configuration are different between one and another one, about servo motors.
For instance, connecting official servo and input 410, it moves -90.0 degree.

By the way, how can we define frame of reference on each servo motor?
I set up the axiom as wiki page right-hand: http://plen.jp/playground/wiki/specific … _reference
With a protractor, you can set up your own original servos configuration on the firmware.

Hi there, I explain how the function works.

1. Get an acceleration sensor value from head-board (using serial).
2. Calculate the statistical values of acceleration, after that, decide to play what motion is better.
3. Run repeatedly these process by 100 msec.

Thus, serial communication is reserved every 100 msec, if you enable `ENSOUL_PLEN` macro.
This is the reason some application doesn't work fine on the environment.

Hi dielessen,

Current actual URI is shown as below:
https://github.com/plenprojectcompany/p … wm_checker

I think you need to configure PWM width and also re-setting up positions of joints.

`pwm_checker.ino` can detect servos' PWM parameters pressing `m` or `p` key.
How to upload this is copying the files described in the `dependencies.json` to the directory, after that use Arduino IDE.
Using this sketch, you can see the servos movements and these PWM parameters on your serial terminal.

Please write down relationship between angles and PWMs in the following lines:
- https://github.com/plenprojectcompany/p … .h#L65-L67
- https://github.com/plenprojectcompany/p … #L135-L142

As set positions of joints, for instance, if you set up arm's servo being 0 degree as the center, the arm can move ±60 degree.
Being +30 degree as the center, the arm can move from +30 degree to -90 degree relatively.

Hi anzenbp,

Actually, currently there are 2 lots of servo motor used on PLEN series robots.
Your PLEN2 is using old lot's one, so we need to order it from other consumer electronics company.

Just last week, we received that's servo motor. I think we can resend your PLEN2 by the end of this week.
We apologize for the delay in us resend this to you. Please wait for a while.

Hi spacorum,

Please refer to the topic right-hand: https://plen.jp/playground/forum/viewto … d=415#p415

Hi guys,

Just for reference, I introduce one of the assembling ways without any troubles below:
1. Connect your laptop with only PLEN's control board
2. Upload the latest version firmware -> https://github.com/plenprojectcompany/p … ses/latest
3. Run the latest version control server -> https://github.com/plenprojectcompany/p … ses/latest
4. Open PLEN_Utils.url
5. Click "Reset All" button
6. Connect PLEN's battery with the control board, after that, begin to connect each servos cables and assemble exterior parts, with turning on both switches and keep them turned on.
7. When you finished assembling PLEN, PLEN should be standing approximately straightly.
   If not, you need to re-assemble it for tuning home positions without servos breaking.
8. Tune home positions using the control server.

Hi jeanlouisquero,

Just for reference, our official github account was moved once: https://plen.jp/playground/forum/viewtopic.php?id=52
Changing the word 'plenproject' into 'plenprojectcompnay', the all URL could be working now.

Hi guys,

As for the external EEPROM, 24FC1025 is the only correct choice without any buggy instructions.
We have been working to fix this misunderstandable issue, please wait for a while X(

Hi High-Gi,

Please use address below:
PLEN Project Company Inc.
3F Meijiyasuda-Life Osaka Umeda Bidg. 3-3-20 Umeda Kita-ku Osaka-city Osaka 530-0001 Japan
Also, I recommend to write down "NOT RESTRICTED" on delivery ticket when you send your PLEN2.

P.S.
We will ask you to pay the repairing cost and re-shipping fee. Could you mind left-hand?

Just for confirmation, your environment satisfies below, right?

- Firmware version is just v1.4.1.
- After stating up PLEN2, it is standing straightly.
- To install the motion files (e.g. https://github.com/plenprojectcompany/P … r/motions) was successfull.

If even one of the conditions above is not fulfilled, your PLEN2 doesn't work well.
Please send us your PLEN2 if you will have given up to tune it. We can fix the problem ;)

Hi, High-Gi

Please let me know your software environment?
(Just for reference, recommended environment is shown as right-hand. https://github.com/plenprojectcompany/P … tware-set)

If you use the environment above, I think the error will be solved to do following process.

- Re-install the all motion files using PLEN Utils.
    - Run the latest version Control Server, then launch PLEN_Utils.url.
    - Click "Load Motion(s)" button to load the all motion files which are placed here.
    - After that, click "Install" button.

Hi guys,

FYI: https://github.com/plenprojectcompany/plen-EdisonBoard