tf-2md3-devel@t-frog.com
ブラシレスモータの動作確認方法について
Date:
Wed, 03 Aug 2016 00:44:00 +0900
From:
河原貴軌 <
b1295223 at planet dot kanazawa-it dot ac dot jp
>To:
tf-2md3-devel at t-frog dot com
Subject:
[00127] ブラシレスモータの動作確認方法について
お世話になっております。
金沢工業大学OBの河原と申します。
趣味用途で貴社のモータドライバTF-2MD3-R6Aを使用してブラシレスモータを回そうとしているのですが正常な動作を確認できず、ご教授願いたく連絡致しました。
現状、モータの接続と動作確認のため、ギアやタイヤなどを付けずにrun_testの動作を机上で見ているのですが、回転後に速度が変動せず制御されている動作が確認できません。
また、-oで確認できるオドメトリの値も回転方向が補正されず、正しく動いているように見えません。
パラメータなのか、何か問題があればご指摘お願い致します。
環境としては
・ypspurをインストールしたUbuntu14.04から、sampleのrun_testで動作確認を行っています。
そのrun_testの動作中、本来は2つのモータが逆回転し、1m進んだ所で一度停止、同じ方向に回転して旋回動作、180度（th 1.57）になると再度停止し、1m戻ってくるような動作になると思いますが、
両モータとも反転動作も無く、等速で回転し続ける状態から変化しません。
メールの最後に動作中のコンソールを添付しましたが、直進の制御になるはずが角度補正が制御されず回転を続けるような動作に見えます。
エンコーダの回転方向が怪しいとは思いましたが、
12 RADIUS[0] 0.150000
12 RADIUS[1] -0.150000
のパラメータを++や-+、--に変更しても正しく動作しません。++、--の場合は下記よりも角速度が速くなり、パラメータ通りその場回転の動作になります。
たまたまx座標が1mを超えた事でspin指令に入る事がありますが、停止せず逆回転もなくそのまま周り続けます。
・モータはACサーボモータ（3相ブラシレス）の「42JSF630AS-1000」という中国製の物を使用しています。
( http://www.jmc-driver.com/h-pd-138.html )
1回転1000パルスの2相エンコーダ、3相ホール素子、原点信号（index）のセンサを持ち、4極のブラシレスモータとなります。5V電源を入れた状態で、GNDとパルス間の波形はオシロで出ている事は確認してあります。
定格は24Vですが、今は駆動電圧12Vで動作を行っています。
エンコーダの位相遅れなどが明記されていなかったため、配線は手探りで安定して回転できる接続を探しました。
MASSも1や25kgとしてみたりしましたが特に変化ありません。
ファームウエアについては、既存の物とv0.1.3の両方を試しています。
LEDなども異常アラームは発生していません。
お手数ですが、宜しくお願い致します。
・参考までに動作中のコンソール表示を下記に添付致します。
~/ypspur/yp-robot-params/robot-params$ ypspur-coordinator -p test.param -d /dev/ttyACM1 --verbose -o
++++++++++++++++++++++++++++++++++++++++++++++++++
YamabicoProject-Spur
Ver. 1.14.0
++++++++++++++++++++++++++++++++++++++++++++++++++
Device Information
Port : /dev/ttyACM1
Vender : T-frog Prject
Product : T-frog Motor Driver rev.5
Firmware: 98d3cea
Protcol : YPP:06:00
Serialno: 01300000
++++++++++++++++++++++++++++++++++++++++++++++++++
Driver depending parameters
Name : unknown
PWM resolution: 1200
Motor number : 2
++++++++++++++++++++++++++++++++++++++++++++++++++
Parameter file: test.param
0 VERSION 4.000000
5 VOLT 12.000000
6 CYCLE 0.001000
16 CONTROL_CYCLE 0.020000
2 TORQUE_FINENESS 0.000005
12 RADIUS[0] 0.150000
12 RADIUS[1] -0.150000
15 TREAD 0.200000
37 MASS 0.500000
40 TIRE_M_INERTIA 0.000000
38 MOMENT_INERTIA 0.000000
31 TORQUE_VISCOS 0.000050
30 TORQUE_NEWTON 0.020000
29 TORQUE_MAX 0.200000
36 TORQUE_LIMIT 1.000000
11 MOTOR_PHASE 3.000000
4 COUNT_REV 1000.000000
7 GEAR 4.000000
10 MOTOR_VC 500.000000
9 MOTOR_TC 0.053000
8 MOTOR_R 1.100000
39 MOTOR_M_INERTIA 0.000000
27 GAIN_KP 10.000000
28 GAIN_KI 3.000000
34 INTEGRAL_MAX 0.500000
17 MAX_VEL 2.000000
18 MAX_W 3.000000
19 MAX_ACC_V 2.000000
20 MAX_ACC_W 12.000000
21 MAX_CENTRI_ACC 2.450000
22 L_C1 0.010000
23 L_K1 800.000000
24 L_K2 300.000000
25 L_K3 200.000000
26 L_DIST 0.600000
A 0.000703
B 0.000703
C -0.000703
D -0.000703
E 0.000000
F 0.000000
++++++++++++++++++++++++++++++++++++++++++++++++++
Warn: Baudrate setting is not supported on this device.
Applying parameters.
YP-Spur coordinator started.
Trajectory control loop started.
Command analyzer started.
0.007422 0.000000 -0.142550
0.007422 0.000000 -0.142550
0.007422 0.000000 -0.142550
0.007422 0.000000 -0.142550
Command: vel 1.000000
Mode: servo 1
Command: dvel 1.000000
Command: w 0.157080
Command: dw 1.570796
Command: set pos 0.000000 0.000000 0.000000
Command: stop_line 0.997279 -0.142067 -0.142550
Mode: servo 3
Command: over line ( dist = -0.995000 )
0.007422 0.000000 -0.142550
0.007422 0.000000 -0.142550
0.007422 0.000000 -0.142550
0.007422 0.000000 -0.142550
0.007422 0.000000 -0.142550
0.007422 0.000000 -0.142550
0.007189 0.000033 -0.144906
0.007189 0.000033 -0.144906
0.007072 0.000050 -0.143728
0.006722 0.000101 -0.142550
0.006373 0.000151 -0.143728
0.005556 0.000269 -0.147262
0.004857 0.000373 -0.149618
0.004857 0.000373 -0.151975
0.004275 0.000462 -0.153153
0.003926 0.000516 -0.154331
0.003576 0.000571 -0.153153
0.002179 0.000786 -0.155509
-0.000149 0.001151 -0.164934
-0.005029 0.001964 -0.174358
-0.020460 0.004682 -0.187317
Command: over line ( dist = -1.007604 )
-0.039559 0.008302 -0.193208
-0.059330 0.012170 -0.189674
-0.079345 0.016012 -0.193208
-0.098307 0.019722 -0.207345
-0.116752 0.023603 -0.216770
-0.135506 0.027733 -0.217948
-0.155060 0.032063 -0.222660
-0.173789 0.036304 -0.235619
-0.192461 0.040787 -0.246222
-0.211085 0.045467 -0.249757
-0.230377 0.050388 -0.253291
-0.248397 0.055053 -0.269784
-0.266224 0.059982 -0.282743
-0.284099 0.065175 -0.294524
-0.303490 0.071058 -0.299237
-0.321727 0.076684 -0.311018
-0.338999 0.082236 -0.325155
-0.355856 0.087919 -0.340470
-0.373735 0.094252 -0.353429
-0.392082 0.101021 -0.362854
Command: over line ( dist = -1.404804 )
-0.409044 0.107461 -0.379347
-0.426006 0.114223 -0.392306
-0.443206 0.121340 -0.406444
-0.460953 0.128978 -0.413512
-0.477782 0.136363 -0.425293
-0.494201 0.143800 -0.445321
-0.510894 0.151767 -0.462992
-0.527864 0.160238 -0.473595
-0.545058 0.169050 -0.475951
-0.561080 0.177309 -0.488910
-0.577409 0.185996 -0.508938
-0.593458 0.194951 -0.527788
-0.609844 0.204503 -0.533678
-0.625971 0.214032 -0.544281
-0.641795 0.223609 -0.559596
-0.657370 0.233365 -0.576090
-0.672980 0.243505 -0.585514
-0.689180 0.254248 -0.593761
-0.704413 0.264530 -0.614967
-0.719232 0.274997 -0.633816
Command: over line ( dist = -1.753351 )
-0.733566 0.285532 -0.646775
-0.748984 0.297175 -0.653844
-0.764414 0.308999 -0.664447
-0.778790 0.320259 -0.684474
-0.792754 0.331655 -0.702146
-0.806696 0.343449 -0.717461
-0.821342 0.356229 -0.725708
-0.835090 0.368426 -0.742201
-0.848547 0.380769 -0.757517
-0.861986 0.393478 -0.775188
-0.875786 0.406999 -0.789325
-0.889145 0.420464 -0.799928
-0.901376 0.433055 -0.815243
-0.913736 0.446175 -0.835271
-0.926304 0.460065 -0.855299
-0.939133 0.474825 -0.862367
-0.951167 0.488871 -0.872970
-0.962749 0.502682 -0.892998
-0.974052 0.516723 -0.913025
-0.985288 0.531267 -0.927163
Command: over line ( dist = -2.053117 )
-0.996741 0.546533 -0.934231
-1.007666 0.561312 -0.953081
-1.018447 0.576486 -0.969574
-1.028709 0.591447 -0.983711
-1.039085 0.607043 -0.989602
-1.049499 0.622896 -1.002561
-1.059262 0.638187 -1.023767
-1.068699 0.653683 -1.042616
-1.077902 0.669455 -1.053219
-1.087694 0.686654 -1.057931
-1.096712 0.702668 -1.072068
-1.105334 0.718497 -1.089740
-1.113620 0.734372 -1.106233
-1.122223 0.751540 -1.119192
-1.130603 0.768818 -1.129795
-1.138297 0.785118 -1.142754
-1.145828 0.801624 -1.154535
-1.153402 0.818756 -1.169851
-1.161081 0.836870 -1.178097
-1.168114 0.853850 -1.192234
Command: over line ( dist = -2.279917 )
-1.174689 0.870379 -1.209906
-1.181220 0.887684 -1.227577
-1.187642 0.905656 -1.234646
-1.194015 0.923895 -1.239358
-1.199919 0.941051 -1.255852
-1.205685 0.958749 -1.277057
-1.211006 0.976340 -1.293551
-1.216198 0.994583 -1.297085
-1.221197 1.012391 -1.310044
-1.226026 1.030489 -1.327716
-1.230478 1.048442 -1.345387
-1.234718 1.066929 -1.353634
-1.238830 1.085566 -1.363059
-1.242596 1.103434 -1.383086
-1.245937 1.121027 -1.401936
-1.249026 1.139144 -1.416073
-1.252040 1.158466 -1.423141
-1.254882 1.177577 -1.437279
-1.257298 1.195558 -1.456128
-1.259319 1.213114 -1.472622
Command: over line ( dist = -2.421237 )
-1.261121 1.231403 -1.486759
-1.262772 1.251008 -1.497362
-1.264121 1.269337 -1.516211
-1.265110 1.287453 -1.530348
-1.265854 1.305816 -1.546842
-1.266316 1.325131 -1.556266
-1.266587 1.343743 -1.568047
-1.266636 1.361532 -1.588075
-1.266320 1.379790 -1.608103
-1.265630 1.398273 -1.625774
-1.264562 1.417683 -1.629308
-1.263501 1.435794 -1.641089
-1.262227 1.453892 -1.659939
-1.260601 1.472080 -1.682323
-1.258543 1.490461 -1.695282
-1.256202 1.509165 -1.702351
-1.253807 1.527268 -1.720022
-1.251075 1.545442 -1.736515
-1.248062 1.563452 -1.749474
-1.244691 1.582118 -1.755365
Command: over line ( dist = -2.459181 )
-1.241210 1.600763 -1.770680
-1.237632 1.618429 -1.793064
-1.233684 1.635895 -1.809557
-1.229338 1.653752 -1.816626
-1.224550 1.672835 -1.822516
-1.219913 1.690862 -1.841366
-1.215064 1.708345 -1.857859
-1.209994 1.725519 -1.874353
-1.204254 1.743844 -1.884956
-1.198393 1.761883 -1.895558
-1.192604 1.779078 -1.909696
-1.186494 1.796411 -1.923833
-1.179895 1.814319 -1.940326
-1.172832 1.832555 -1.947395
-1.166203 1.849317 -1.962710
-1.159408 1.865757 -1.978025
-1.152036 1.882849 -1.996875
-1.143953 1.900657 -2.006300
-1.135802 1.918174 -2.013368
-1.128083 1.934463 -2.028683
Command: over line ( dist = -2.393812 )
-1.120011 1.950842 -2.048711
-1.111504 1.967266 -2.064026
-1.102412 1.984180 -2.069917
-1.093502 2.000523 -2.084054
-1.084247 2.016944 -2.102904
-1.074803 2.032984 -2.119397
-1.065035 2.048967 -2.125287
-1.055048 2.065093 -2.133534
-1.045369 2.080438 -2.157096
-1.035200 2.095747 -2.178302
-1.024710 2.110837 -2.190083
-1.013358 2.126761 -2.194795
-1.002413 2.141963 -2.210110
-0.991659 2.156428 -2.227782
-0.980723 2.170608 -2.244275
-0.969113 2.185157 -2.258412
-0.956700 2.200270 -2.270193
-0.944869 2.214333 -2.286687
-0.933117 2.227844 -2.298468
-0.920971 2.241480 -2.313783
Command: over line ( dist = -2.232418 )
-0.907821 2.255796 -2.324386
-0.895004 2.269456 -2.339701
-0.882798 2.282071 -2.357373
-0.870038 2.294801 -2.377400
-0.856684 2.307600 -2.390359
-0.842478 2.320867 -2.393894
-0.829175 2.333204 -2.408031
-0.815611 2.345429 -2.428058
-0.801894 2.357304 -2.449264
-0.787656 2.369111 -2.459867
-0.773111 2.380914 -2.465758
-0.758865 2.392337 -2.483429
-0.744232 2.403650 -2.501100
-0.729402 2.414704 -2.516416
-0.713927 2.425873 -2.521128
-0.698782 2.436695 -2.537621
-0.684043 2.446865 -2.556471
-0.669017 2.456820 -2.574142
-0.653221 2.466888 -2.582389
-0.636443 2.477388 -2.589458
Command: over line ( dist = -1.984291 )
-0.620696 2.487089 -2.609485
-0.605061 2.496294 -2.625979
-0.589585 2.505066 -2.638938
-0.572654 2.514373 -2.648363
-0.555740 2.523465 -2.663678
-0.539421 2.531918 -2.680171
-0.523070 2.540048 -2.693130
-0.505872 2.548323 -2.704911
-0.488257 2.556544 -2.713158
-0.471862 2.564033 -2.730829
-0.455228 2.571277 -2.747323
-0.437825 2.578518 -2.766172
-0.419411 2.585775 -2.773241
-0.401826 2.592562 -2.780309
-0.385075 2.598892 -2.796803
-0.367667 2.605144 -2.816831
-0.349803 2.611158 -2.833324
-0.331393 2.617020 -2.840392
-0.313955 2.622438 -2.853352
-0.296109 2.627729 -2.869845
Command: over line ( dist = -1.668767 )
-0.278405 2.632662 -2.883982
-0.259949 2.637524 -2.891051
-0.241802 2.642169 -2.904010
-0.224055 2.646466 -2.926394
-0.206216 2.650366 -2.944065
-0.188426 2.653926 -2.953490
-0.169330 2.657561 -2.957024
-0.150916 2.660999 -2.974696
-0.132793 2.664052 -2.993545
-0.115199 2.666676 -3.011217
-0.096743 2.669096 -3.020641
-0.077797 2.671399 -3.030066
-0.059767 2.673418 -3.048916
-0.041585 2.675108 -3.061875
-0.023265 2.676571 -3.078368
-0.003748 2.677807 -3.087793
0.014486 2.678789 -3.103108
0.031909 2.679460 -3.119602
0.049930 2.679856 -3.137273
0.069015 2.679938 -3.151410
Command: over line ( dist = -1.314764 )
0.088570 2.679746 -3.158479
0.106593 2.679442 -3.173794
0.124491 2.678865 -3.192644
0.142492 2.677946 -3.212671
0.161294 2.676607 -3.222096
0.179848 2.675110 -3.231521
0.198269 2.673449 -3.251548
0.216770 2.671406 -3.270398
0.235230 2.669016 -3.282179
0.254010 2.666358 -3.285713
0.272082 2.663735 -3.303385
0.290104 2.660794 -3.325769
0.308055 2.657449 -3.343440
0.326638 2.653647 -3.351687
0.345764 2.649568 -3.358755
0.363481 2.645659 -3.377605
0.381120 2.641417 -3.394098
0.398688 2.636884 -3.410592
0.417654 2.631656 -3.421194
0.435772 2.626454 -3.437688
Command: over line ( dist = -0.944129 )
0.453238 2.621126 -3.450647
0.470521 2.615607 -3.462428
0.488856 2.609514 -3.474209
0.507118 2.603206 -3.485990
0.524306 2.597041 -3.506017
0.541037 2.590658 -3.522511
0.558426 2.583694 -3.537826
0.576685 2.576056 -3.540182
0.593839 2.568831 -3.551963
0.610476 2.561593 -3.568457
0.627205 2.553984 -3.589662
0.644300 2.545767 -3.602621
0.661287 2.537329 -3.606156
0.677402 2.529253 -3.621471
0.694018 2.520605 -3.636786
0.710499 2.511704 -3.654458
0.727334 2.502224 -3.659170
0.743408 2.493072 -3.672129
0.758853 2.484011 -3.690979
0.774326 2.474538 -3.709828
Command: over line ( dist = -0.587426 )
0.790015 2.464521 -3.719253
0.806398 2.453842 -3.723965
0.821944 2.443604 -3.742815
0.836808 2.433408 -3.760486
0.851298 2.423088 -3.775802
0.866387 2.411989 -3.784048
0.881667 2.400554 -3.798186
0.896224 2.389335 -3.817035
0.910383 2.377992 -3.831172
0.924653 2.366224 -3.844131
0.939489 2.353664 -3.852378
0.953238 2.341827 -3.868871
0.966439 2.330078 -3.887721
0.979848 2.317683 -3.907749
0.993770 2.304286 -3.919530
1.007533 2.290727 -3.926598
1.020117 2.278153 -3.941913
1.032753 2.265134 -3.960763
1.045302 2.251707 -3.981969
1.058193 2.237315 -3.991393
1.070403 2.223422 -4.004353
Command: over line ( dist = -0.258677 )
1.082355 2.209461 -4.020846
1.094151 2.195214 -4.038517
1.105913 2.180485 -4.050298
1.117573 2.165525 -4.056189
1.128858 2.150870 -4.078573
1.139742 2.136062 -4.099778
1.150174 2.121218 -4.116272
1.160889 2.105425 -4.118628
1.171633 2.089509 -4.129231
1.181818 2.074069 -4.149258
1.191566 2.058628 -4.169286
1.201003 2.042996 -4.182245
1.210773 2.026327 -4.189314
1.220072 2.010202 -4.205807
1.228989 1.994132 -4.219944
1.237622 1.978041 -4.232903
1.246698 1.960585 -4.243506
1.255269 1.943665 -4.256465
1.263153 1.927587 -4.272959
1.270772 1.911381 -4.287096
Command: over line ( dist = -0.016010 )
1.278549 1.894211 -4.301233
1.286553 1.875852 -4.305945
1.293819 1.858971 -4.320083
1.300755 1.842207 -4.334220
1.307454 1.825346 -4.353069
1.314165 1.807480 -4.362494
1.320627 1.789772 -4.369563
1.326804 1.772463 -4.386056
1.332809 1.754720 -4.403728
1.338500 1.736874 -4.416687
1.344027 1.718730 -4.420221
1.349253 1.701356 -4.434358
1.354264 1.683796 -4.454386
1.358954 1.666026 -4.473235
1.363419 1.647713 -4.480304
1.367836 1.629025 -4.486194
1.371957 1.611115 -4.505044
1.375668 1.593476 -4.522715
1.379044 1.575890 -4.539209
1.382353 1.556975 -4.547455
Command: over line ( dist = 0.144790 )
Command: spin 1.428247
Mode: servo 5
Command: near ang ( dist = 0.307483 )
1.385467 1.538265 -4.565127
1.388147 1.520202 -4.580442
1.390518 1.502334 -4.593401
1.392728 1.483851 -4.605182
1.394808 1.464524 -4.615785
1.396569 1.446349 -4.638169
1.397879 1.428726 -4.657018
1.398890 1.410494 -4.674690
1.399623 1.391069 -4.682937
1.400181 1.372110 -4.691183
1.400561 1.354207 -4.710033
1.400604 1.336064 -4.731239
1.400250 1.317335 -4.751266
1.399509 1.298265 -4.758335
1.398670 1.280024 -4.771294
1.397602 1.261912 -4.787787
1.396191 1.243234 -4.807815
1.394361 1.224118 -4.818418
1.392379 1.205492 -4.826664
1.390324 1.187584 -4.846692
Command: near ang ( dist = 0.008247 )
Command: vel 0.300000
Command: dvel 1.000000
Command: w 3.000000
Command: dw 3.141593
Command: stop_line 1.011486 -0.043082 1.428247
Mode: servo 3
Command: over line ( dist = 1.277004 )
Command: spin 2.999043
Mode: servo 5
Command: near ang ( dist = -1.562550 )
1.387878 1.169488 -4.866720
1.385053 1.151328 -4.880857
1.381814 1.132281 -4.883213
1.378589 1.113590 -4.898528
1.375166 1.095413 -4.918556
1.371525 1.078001 -4.936227
1.367471 1.060196 -4.944474
1.363028 1.041393 -4.953899
1.358547 1.023205 -4.971570
1.353837 1.005440 -4.985708
1.348908 0.987858 -4.998667
1.343419 0.969210 -5.004557
1.338058 0.951385 -5.018694
1.332694 0.934424 -5.036366
1.326918 0.917225 -5.052859
1.320506 0.899124 -5.065818
1.313655 0.880555 -5.070531
1.307337 0.863674 -5.083490
1.300843 0.846986 -5.097627
1.293937 0.829955 -5.116476
Command: near ang ( dist = -1.832334 )
1.286340 0.812190 -5.128257
1.278725 0.794947 -5.137682
1.271240 0.778421 -5.151819
1.263321 0.761575 -5.168313
1.255022 0.744651 -5.180094
1.246364 0.727510 -5.185984
1.238090 0.711364 -5.202477
1.229439 0.695149 -5.226039
1.220409 0.679143 -5.242533
1.210818 0.662779 -5.248423
1.201130 0.646472 -5.254314
1.191651 0.630727 -5.275519
1.181777 0.615087 -5.295547
1.171787 0.599943 -5.312040
1.160949 0.584090 -5.317931
1.150354 0.568786 -5.334424
1.139645 0.553850 -5.350918
1.128762 0.539187 -5.366233
1.117153 0.524038 -5.378014
1.105149 0.508749 -5.390973
Command: near ang ( dist = -2.106831 )
1.093909 0.494809 -5.412179
1.082528 0.481291 -5.428672
1.070538 0.467518 -5.443987
1.057316 0.452790 -5.453412
1.044512 0.438797 -5.468727
1.032223 0.425772 -5.485221
1.019639 0.412867 -5.505248
1.006463 0.399886 -5.520564
0.992664 0.386702 -5.527632
0.979458 0.374262 -5.544126
0.965700 0.361723 -5.560619
0.951738 0.349414 -5.579469
0.937186 0.337065 -5.586537
0.923000 0.325197 -5.594784
0.909262 0.313895 -5.614811
0.894838 0.302506 -5.636017
0.879894 0.291212 -5.648976
0.864330 0.279763 -5.651332
0.849215 0.268700 -5.666648
0.834412 0.258209 -5.685497
Command: near ang ( dist = -2.401355 )
0.819512 0.248066 -5.700813
0.803967 0.237828 -5.710237
0.787632 0.227291 -5.720840
0.771984 0.217429 -5.738512
0.756366 0.207967 -5.751471
0.740627 0.198709 -5.762074
0.723666 0.188973 -5.769142
0.707355 0.179763 -5.786814
0.691609 0.171235 -5.805663
0.675496 0.162897 -5.819800
0.658318 0.154313 -5.828047
0.640753 0.145717 -5.835116
0.624401 0.137857 -5.849253
0.608047 0.130278 -5.866924
0.590807 0.122656 -5.885774
0.572883 0.115133 -5.894021
0.555879 0.108160 -5.905801
0.539122 0.101518 -5.918761
0.521621 0.094842 -5.936432
0.503450 0.088276 -5.948213
Command: near ang ( dist = -2.664071 )
0.485537 0.082040 -5.956460
0.468465 0.076255 -5.974131
0.451070 0.070701 -5.994159
0.433454 0.065463 -6.010652
0.414733 0.060231 -6.014186
0.396561 0.055221 -6.025967
0.378788 0.050546 -6.047173
0.361148 0.046304 -6.068379
0.343307 0.042411 -6.078982
0.324618 0.038541 -6.086050
0.306480 0.034918 -6.106078
0.288042 0.031618 -6.123749
0.270129 0.028738 -6.140243
0.251239 0.026019 -6.147311
0.232563 0.023466 -6.161449
0.214905 0.021306 -6.181476
0.197208 0.019499 -6.199148
0.178777 0.017947 -6.214463
0.158914 0.016580 -6.222710
0.140569 0.015469 -6.236847
Command: near ang ( dist = -2.952704 )
0.122799 0.014645 -6.252162
0.104901 0.014089 -6.271012
0.086170 0.013861 -6.286327
0.066850 0.013922 -6.295752
0.048944 0.014147 -6.312245
0.030573 0.014681 -6.326382
0.012095 0.015480 -6.341697
-0.006958 0.016596 -6.348766
-0.025297 0.017800 -6.360547
-0.043268 0.019193 -6.382931
-0.061672 0.021035 -6.402959
-0.080153 0.023259 -6.412383
-0.099195 0.025733 -6.413561
-0.117418 0.028123 -6.430055
-0.135482 0.030795 -6.450082
-0.153488 0.033828 -6.467754
-0.172018 0.037288 -6.474822
-0.190638 0.040900 -6.485425
-0.208526 0.044568 -6.503097
-0.226462 0.048577 -6.517234
Command: near ang ( dist = 3.050094 )
-0.244569 0.052894 -6.526659
-0.263777 0.057666 -6.536084
-0.281571 0.062264 -6.554933
-0.298820 0.067071 -6.571426
-0.316102 0.072195 -6.584386
-0.334778 0.077996 -6.591454
-0.353412 0.083930 -6.603235
-0.370746 0.089675 -6.620907
-0.387641 0.095608 -6.637400
-0.405210 0.102105 -6.652715
-0.423336 0.109126 -6.660962
-0.440419 0.115905 -6.675099
-0.457404 0.122925 -6.689236
-0.474721 0.130370 -6.708086
-0.492431 0.138383 -6.718689
-0.509414 0.146286 -6.726935
-0.525267 0.153822 -6.744607
-0.541829 0.162057 -6.764634
-0.558432 0.170731 -6.782306
-0.575602 0.180091 -6.787018
Command: near ang ( dist = 2.780309 )
-0.591903 0.189078 -6.798799
-0.607687 0.198024 -6.817649
-0.623198 0.207205 -6.837676
-0.638923 0.216944 -6.848279
-0.655141 0.227227 -6.856526
-0.670778 0.237324 -6.877732
-0.686003 0.247618 -6.894225
-0.700863 0.258027 -6.906006
-0.716269 0.269091 -6.911897
-0.731514 0.280176 -6.928390
-0.745915 0.291016 -6.950774
-0.759978 0.302102 -6.967267
-0.774313 0.313791 -6.980226
-0.789307 0.326345 -6.984939
-0.803343 0.338209 -7.001432
-0.816738 0.349916 -7.019103
-0.830185 0.362095 -7.037953
-0.844088 0.375170 -7.052090
-0.857804 0.388441 -7.061515
-0.870387 0.400848 -7.075652
Command: near ang ( dist = 2.491676 )
-0.883373 0.414019 -7.090967
-0.896319 0.427557 -7.106283
-0.909536 0.441811 -7.114529
-0.921762 0.455215 -7.128666
-0.933719 0.468703 -7.148694
-0.945557 0.482607 -7.166366
-0.957521 0.497173 -7.175790
-0.969642 0.512219 -7.180503
-0.981105 0.526584 -7.199352
-0.992367 0.541257 -7.219380
-1.003123 0.555867 -7.235873
-1.013978 0.571133 -7.239408
-1.024846 0.586534 -7.253545
-1.035496 0.602086 -7.272394
-1.045722 0.617640 -7.288888
-1.055753 0.633459 -7.297134
-1.065964 0.649861 -7.306559
-1.075468 0.665453 -7.326587
-1.084540 0.681029 -7.341902
-1.093545 0.697050 -7.356039
金沢工業大学OBの河原と申します。
趣味用途で貴社のモータドライバTF-2MD3-R6Aを使用してブラシレスモータを回そうとしているのですが正常な動作を確認できず、ご教授願いたく連絡致しました。
現状、モータの接続と動作確認のため、ギアやタイヤなどを付けずにrun_testの動作を机上で見ているのですが、回転後に速度が変動せず制御されている動作が確認できません。
また、-oで確認できるオドメトリの値も回転方向が補正されず、正しく動いているように見えません。
パラメータなのか、何か問題があればご指摘お願い致します。
環境としては
・ypspurをインストールしたUbuntu14.04から、sampleのrun_testで動作確認を行っています。
そのrun_testの動作中、本来は2つのモータが逆回転し、1m進んだ所で一度停止、同じ方向に回転して旋回動作、180度（th 1.57）になると再度停止し、1m戻ってくるような動作になると思いますが、
両モータとも反転動作も無く、等速で回転し続ける状態から変化しません。
メールの最後に動作中のコンソールを添付しましたが、直進の制御になるはずが角度補正が制御されず回転を続けるような動作に見えます。
エンコーダの回転方向が怪しいとは思いましたが、
12 RADIUS[0] 0.150000
12 RADIUS[1] -0.150000
のパラメータを++や-+、--に変更しても正しく動作しません。++、--の場合は下記よりも角速度が速くなり、パラメータ通りその場回転の動作になります。
たまたまx座標が1mを超えた事でspin指令に入る事がありますが、停止せず逆回転もなくそのまま周り続けます。
・モータはACサーボモータ（3相ブラシレス）の「42JSF630AS-1000」という中国製の物を使用しています。
( http://www.jmc-driver.com/h-pd-138.html )
1回転1000パルスの2相エンコーダ、3相ホール素子、原点信号（index）のセンサを持ち、4極のブラシレスモータとなります。5V電源を入れた状態で、GNDとパルス間の波形はオシロで出ている事は確認してあります。
定格は24Vですが、今は駆動電圧12Vで動作を行っています。
エンコーダの位相遅れなどが明記されていなかったため、配線は手探りで安定して回転できる接続を探しました。
MASSも1や25kgとしてみたりしましたが特に変化ありません。
ファームウエアについては、既存の物とv0.1.3の両方を試しています。
LEDなども異常アラームは発生していません。
お手数ですが、宜しくお願い致します。
・参考までに動作中のコンソール表示を下記に添付致します。
~/ypspur/yp-robot-params/robot-params$ ypspur-coordinator -p test.param -d /dev/ttyACM1 --verbose -o
++++++++++++++++++++++++++++++++++++++++++++++++++
YamabicoProject-Spur
Ver. 1.14.0
++++++++++++++++++++++++++++++++++++++++++++++++++
Device Information
Port : /dev/ttyACM1
Vender : T-frog Prject
Product : T-frog Motor Driver rev.5
Firmware: 98d3cea
Protcol : YPP:06:00
Serialno: 01300000
++++++++++++++++++++++++++++++++++++++++++++++++++
Driver depending parameters
Name : unknown
PWM resolution: 1200
Motor number : 2
++++++++++++++++++++++++++++++++++++++++++++++++++
Parameter file: test.param
0 VERSION 4.000000
5 VOLT 12.000000
6 CYCLE 0.001000
16 CONTROL_CYCLE 0.020000
2 TORQUE_FINENESS 0.000005
12 RADIUS[0] 0.150000
12 RADIUS[1] -0.150000
15 TREAD 0.200000
37 MASS 0.500000
40 TIRE_M_INERTIA 0.000000
38 MOMENT_INERTIA 0.000000
31 TORQUE_VISCOS 0.000050
30 TORQUE_NEWTON 0.020000
29 TORQUE_MAX 0.200000
36 TORQUE_LIMIT 1.000000
11 MOTOR_PHASE 3.000000
4 COUNT_REV 1000.000000
7 GEAR 4.000000
10 MOTOR_VC 500.000000
9 MOTOR_TC 0.053000
8 MOTOR_R 1.100000
39 MOTOR_M_INERTIA 0.000000
27 GAIN_KP 10.000000
28 GAIN_KI 3.000000
34 INTEGRAL_MAX 0.500000
17 MAX_VEL 2.000000
18 MAX_W 3.000000
19 MAX_ACC_V 2.000000
20 MAX_ACC_W 12.000000
21 MAX_CENTRI_ACC 2.450000
22 L_C1 0.010000
23 L_K1 800.000000
24 L_K2 300.000000
25 L_K3 200.000000
26 L_DIST 0.600000
A 0.000703
B 0.000703
C -0.000703
D -0.000703
E 0.000000
F 0.000000
++++++++++++++++++++++++++++++++++++++++++++++++++
Warn: Baudrate setting is not supported on this device.
Applying parameters.
YP-Spur coordinator started.
Trajectory control loop started.
Command analyzer started.
0.007422 0.000000 -0.142550
0.007422 0.000000 -0.142550
0.007422 0.000000 -0.142550
0.007422 0.000000 -0.142550
Command: vel 1.000000
Mode: servo 1
Command: dvel 1.000000
Command: w 0.157080
Command: dw 1.570796
Command: set pos 0.000000 0.000000 0.000000
Command: stop_line 0.997279 -0.142067 -0.142550
Mode: servo 3
Command: over line ( dist = -0.995000 )
0.007422 0.000000 -0.142550
0.007422 0.000000 -0.142550
0.007422 0.000000 -0.142550
0.007422 0.000000 -0.142550
0.007422 0.000000 -0.142550
0.007422 0.000000 -0.142550
0.007189 0.000033 -0.144906
0.007189 0.000033 -0.144906
0.007072 0.000050 -0.143728
0.006722 0.000101 -0.142550
0.006373 0.000151 -0.143728
0.005556 0.000269 -0.147262
0.004857 0.000373 -0.149618
0.004857 0.000373 -0.151975
0.004275 0.000462 -0.153153
0.003926 0.000516 -0.154331
0.003576 0.000571 -0.153153
0.002179 0.000786 -0.155509
-0.000149 0.001151 -0.164934
-0.005029 0.001964 -0.174358
-0.020460 0.004682 -0.187317
Command: over line ( dist = -1.007604 )
-0.039559 0.008302 -0.193208
-0.059330 0.012170 -0.189674
-0.079345 0.016012 -0.193208
-0.098307 0.019722 -0.207345
-0.116752 0.023603 -0.216770
-0.135506 0.027733 -0.217948
-0.155060 0.032063 -0.222660
-0.173789 0.036304 -0.235619
-0.192461 0.040787 -0.246222
-0.211085 0.045467 -0.249757
-0.230377 0.050388 -0.253291
-0.248397 0.055053 -0.269784
-0.266224 0.059982 -0.282743
-0.284099 0.065175 -0.294524
-0.303490 0.071058 -0.299237
-0.321727 0.076684 -0.311018
-0.338999 0.082236 -0.325155
-0.355856 0.087919 -0.340470
-0.373735 0.094252 -0.353429
-0.392082 0.101021 -0.362854
Command: over line ( dist = -1.404804 )
-0.409044 0.107461 -0.379347
-0.426006 0.114223 -0.392306
-0.443206 0.121340 -0.406444
-0.460953 0.128978 -0.413512
-0.477782 0.136363 -0.425293
-0.494201 0.143800 -0.445321
-0.510894 0.151767 -0.462992
-0.527864 0.160238 -0.473595
-0.545058 0.169050 -0.475951
-0.561080 0.177309 -0.488910
-0.577409 0.185996 -0.508938
-0.593458 0.194951 -0.527788
-0.609844 0.204503 -0.533678
-0.625971 0.214032 -0.544281
-0.641795 0.223609 -0.559596
-0.657370 0.233365 -0.576090
-0.672980 0.243505 -0.585514
-0.689180 0.254248 -0.593761
-0.704413 0.264530 -0.614967
-0.719232 0.274997 -0.633816
Command: over line ( dist = -1.753351 )
-0.733566 0.285532 -0.646775
-0.748984 0.297175 -0.653844
-0.764414 0.308999 -0.664447
-0.778790 0.320259 -0.684474
-0.792754 0.331655 -0.702146
-0.806696 0.343449 -0.717461
-0.821342 0.356229 -0.725708
-0.835090 0.368426 -0.742201
-0.848547 0.380769 -0.757517
-0.861986 0.393478 -0.775188
-0.875786 0.406999 -0.789325
-0.889145 0.420464 -0.799928
-0.901376 0.433055 -0.815243
-0.913736 0.446175 -0.835271
-0.926304 0.460065 -0.855299
-0.939133 0.474825 -0.862367
-0.951167 0.488871 -0.872970
-0.962749 0.502682 -0.892998
-0.974052 0.516723 -0.913025
-0.985288 0.531267 -0.927163
Command: over line ( dist = -2.053117 )
-0.996741 0.546533 -0.934231
-1.007666 0.561312 -0.953081
-1.018447 0.576486 -0.969574
-1.028709 0.591447 -0.983711
-1.039085 0.607043 -0.989602
-1.049499 0.622896 -1.002561
-1.059262 0.638187 -1.023767
-1.068699 0.653683 -1.042616
-1.077902 0.669455 -1.053219
-1.087694 0.686654 -1.057931
-1.096712 0.702668 -1.072068
-1.105334 0.718497 -1.089740
-1.113620 0.734372 -1.106233
-1.122223 0.751540 -1.119192
-1.130603 0.768818 -1.129795
-1.138297 0.785118 -1.142754
-1.145828 0.801624 -1.154535
-1.153402 0.818756 -1.169851
-1.161081 0.836870 -1.178097
-1.168114 0.853850 -1.192234
Command: over line ( dist = -2.279917 )
-1.174689 0.870379 -1.209906
-1.181220 0.887684 -1.227577
-1.187642 0.905656 -1.234646
-1.194015 0.923895 -1.239358
-1.199919 0.941051 -1.255852
-1.205685 0.958749 -1.277057
-1.211006 0.976340 -1.293551
-1.216198 0.994583 -1.297085
-1.221197 1.012391 -1.310044
-1.226026 1.030489 -1.327716
-1.230478 1.048442 -1.345387
-1.234718 1.066929 -1.353634
-1.238830 1.085566 -1.363059
-1.242596 1.103434 -1.383086
-1.245937 1.121027 -1.401936
-1.249026 1.139144 -1.416073
-1.252040 1.158466 -1.423141
-1.254882 1.177577 -1.437279
-1.257298 1.195558 -1.456128
-1.259319 1.213114 -1.472622
Command: over line ( dist = -2.421237 )
-1.261121 1.231403 -1.486759
-1.262772 1.251008 -1.497362
-1.264121 1.269337 -1.516211
-1.265110 1.287453 -1.530348
-1.265854 1.305816 -1.546842
-1.266316 1.325131 -1.556266
-1.266587 1.343743 -1.568047
-1.266636 1.361532 -1.588075
-1.266320 1.379790 -1.608103
-1.265630 1.398273 -1.625774
-1.264562 1.417683 -1.629308
-1.263501 1.435794 -1.641089
-1.262227 1.453892 -1.659939
-1.260601 1.472080 -1.682323
-1.258543 1.490461 -1.695282
-1.256202 1.509165 -1.702351
-1.253807 1.527268 -1.720022
-1.251075 1.545442 -1.736515
-1.248062 1.563452 -1.749474
-1.244691 1.582118 -1.755365
Command: over line ( dist = -2.459181 )
-1.241210 1.600763 -1.770680
-1.237632 1.618429 -1.793064
-1.233684 1.635895 -1.809557
-1.229338 1.653752 -1.816626
-1.224550 1.672835 -1.822516
-1.219913 1.690862 -1.841366
-1.215064 1.708345 -1.857859
-1.209994 1.725519 -1.874353
-1.204254 1.743844 -1.884956
-1.198393 1.761883 -1.895558
-1.192604 1.779078 -1.909696
-1.186494 1.796411 -1.923833
-1.179895 1.814319 -1.940326
-1.172832 1.832555 -1.947395
-1.166203 1.849317 -1.962710
-1.159408 1.865757 -1.978025
-1.152036 1.882849 -1.996875
-1.143953 1.900657 -2.006300
-1.135802 1.918174 -2.013368
-1.128083 1.934463 -2.028683
Command: over line ( dist = -2.393812 )
-1.120011 1.950842 -2.048711
-1.111504 1.967266 -2.064026
-1.102412 1.984180 -2.069917
-1.093502 2.000523 -2.084054
-1.084247 2.016944 -2.102904
-1.074803 2.032984 -2.119397
-1.065035 2.048967 -2.125287
-1.055048 2.065093 -2.133534
-1.045369 2.080438 -2.157096
-1.035200 2.095747 -2.178302
-1.024710 2.110837 -2.190083
-1.013358 2.126761 -2.194795
-1.002413 2.141963 -2.210110
-0.991659 2.156428 -2.227782
-0.980723 2.170608 -2.244275
-0.969113 2.185157 -2.258412
-0.956700 2.200270 -2.270193
-0.944869 2.214333 -2.286687
-0.933117 2.227844 -2.298468
-0.920971 2.241480 -2.313783
Command: over line ( dist = -2.232418 )
-0.907821 2.255796 -2.324386
-0.895004 2.269456 -2.339701
-0.882798 2.282071 -2.357373
-0.870038 2.294801 -2.377400
-0.856684 2.307600 -2.390359
-0.842478 2.320867 -2.393894
-0.829175 2.333204 -2.408031
-0.815611 2.345429 -2.428058
-0.801894 2.357304 -2.449264
-0.787656 2.369111 -2.459867
-0.773111 2.380914 -2.465758
-0.758865 2.392337 -2.483429
-0.744232 2.403650 -2.501100
-0.729402 2.414704 -2.516416
-0.713927 2.425873 -2.521128
-0.698782 2.436695 -2.537621
-0.684043 2.446865 -2.556471
-0.669017 2.456820 -2.574142
-0.653221 2.466888 -2.582389
-0.636443 2.477388 -2.589458
Command: over line ( dist = -1.984291 )
-0.620696 2.487089 -2.609485
-0.605061 2.496294 -2.625979
-0.589585 2.505066 -2.638938
-0.572654 2.514373 -2.648363
-0.555740 2.523465 -2.663678
-0.539421 2.531918 -2.680171
-0.523070 2.540048 -2.693130
-0.505872 2.548323 -2.704911
-0.488257 2.556544 -2.713158
-0.471862 2.564033 -2.730829
-0.455228 2.571277 -2.747323
-0.437825 2.578518 -2.766172
-0.419411 2.585775 -2.773241
-0.401826 2.592562 -2.780309
-0.385075 2.598892 -2.796803
-0.367667 2.605144 -2.816831
-0.349803 2.611158 -2.833324
-0.331393 2.617020 -2.840392
-0.313955 2.622438 -2.853352
-0.296109 2.627729 -2.869845
Command: over line ( dist = -1.668767 )
-0.278405 2.632662 -2.883982
-0.259949 2.637524 -2.891051
-0.241802 2.642169 -2.904010
-0.224055 2.646466 -2.926394
-0.206216 2.650366 -2.944065
-0.188426 2.653926 -2.953490
-0.169330 2.657561 -2.957024
-0.150916 2.660999 -2.974696
-0.132793 2.664052 -2.993545
-0.115199 2.666676 -3.011217
-0.096743 2.669096 -3.020641
-0.077797 2.671399 -3.030066
-0.059767 2.673418 -3.048916
-0.041585 2.675108 -3.061875
-0.023265 2.676571 -3.078368
-0.003748 2.677807 -3.087793
0.014486 2.678789 -3.103108
0.031909 2.679460 -3.119602
0.049930 2.679856 -3.137273
0.069015 2.679938 -3.151410
Command: over line ( dist = -1.314764 )
0.088570 2.679746 -3.158479
0.106593 2.679442 -3.173794
0.124491 2.678865 -3.192644
0.142492 2.677946 -3.212671
0.161294 2.676607 -3.222096
0.179848 2.675110 -3.231521
0.198269 2.673449 -3.251548
0.216770 2.671406 -3.270398
0.235230 2.669016 -3.282179
0.254010 2.666358 -3.285713
0.272082 2.663735 -3.303385
0.290104 2.660794 -3.325769
0.308055 2.657449 -3.343440
0.326638 2.653647 -3.351687
0.345764 2.649568 -3.358755
0.363481 2.645659 -3.377605
0.381120 2.641417 -3.394098
0.398688 2.636884 -3.410592
0.417654 2.631656 -3.421194
0.435772 2.626454 -3.437688
Command: over line ( dist = -0.944129 )
0.453238 2.621126 -3.450647
0.470521 2.615607 -3.462428
0.488856 2.609514 -3.474209
0.507118 2.603206 -3.485990
0.524306 2.597041 -3.506017
0.541037 2.590658 -3.522511
0.558426 2.583694 -3.537826
0.576685 2.576056 -3.540182
0.593839 2.568831 -3.551963
0.610476 2.561593 -3.568457
0.627205 2.553984 -3.589662
0.644300 2.545767 -3.602621
0.661287 2.537329 -3.606156
0.677402 2.529253 -3.621471
0.694018 2.520605 -3.636786
0.710499 2.511704 -3.654458
0.727334 2.502224 -3.659170
0.743408 2.493072 -3.672129
0.758853 2.484011 -3.690979
0.774326 2.474538 -3.709828
Command: over line ( dist = -0.587426 )
0.790015 2.464521 -3.719253
0.806398 2.453842 -3.723965
0.821944 2.443604 -3.742815
0.836808 2.433408 -3.760486
0.851298 2.423088 -3.775802
0.866387 2.411989 -3.784048
0.881667 2.400554 -3.798186
0.896224 2.389335 -3.817035
0.910383 2.377992 -3.831172
0.924653 2.366224 -3.844131
0.939489 2.353664 -3.852378
0.953238 2.341827 -3.868871
0.966439 2.330078 -3.887721
0.979848 2.317683 -3.907749
0.993770 2.304286 -3.919530
1.007533 2.290727 -3.926598
1.020117 2.278153 -3.941913
1.032753 2.265134 -3.960763
1.045302 2.251707 -3.981969
1.058193 2.237315 -3.991393
1.070403 2.223422 -4.004353
Command: over line ( dist = -0.258677 )
1.082355 2.209461 -4.020846
1.094151 2.195214 -4.038517
1.105913 2.180485 -4.050298
1.117573 2.165525 -4.056189
1.128858 2.150870 -4.078573
1.139742 2.136062 -4.099778
1.150174 2.121218 -4.116272
1.160889 2.105425 -4.118628
1.171633 2.089509 -4.129231
1.181818 2.074069 -4.149258
1.191566 2.058628 -4.169286
1.201003 2.042996 -4.182245
1.210773 2.026327 -4.189314
1.220072 2.010202 -4.205807
1.228989 1.994132 -4.219944
1.237622 1.978041 -4.232903
1.246698 1.960585 -4.243506
1.255269 1.943665 -4.256465
1.263153 1.927587 -4.272959
1.270772 1.911381 -4.287096
Command: over line ( dist = -0.016010 )
1.278549 1.894211 -4.301233
1.286553 1.875852 -4.305945
1.293819 1.858971 -4.320083
1.300755 1.842207 -4.334220
1.307454 1.825346 -4.353069
1.314165 1.807480 -4.362494
1.320627 1.789772 -4.369563
1.326804 1.772463 -4.386056
1.332809 1.754720 -4.403728
1.338500 1.736874 -4.416687
1.344027 1.718730 -4.420221
1.349253 1.701356 -4.434358
1.354264 1.683796 -4.454386
1.358954 1.666026 -4.473235
1.363419 1.647713 -4.480304
1.367836 1.629025 -4.486194
1.371957 1.611115 -4.505044
1.375668 1.593476 -4.522715
1.379044 1.575890 -4.539209
1.382353 1.556975 -4.547455
Command: over line ( dist = 0.144790 )
Command: spin 1.428247
Mode: servo 5
Command: near ang ( dist = 0.307483 )
1.385467 1.538265 -4.565127
1.388147 1.520202 -4.580442
1.390518 1.502334 -4.593401
1.392728 1.483851 -4.605182
1.394808 1.464524 -4.615785
1.396569 1.446349 -4.638169
1.397879 1.428726 -4.657018
1.398890 1.410494 -4.674690
1.399623 1.391069 -4.682937
1.400181 1.372110 -4.691183
1.400561 1.354207 -4.710033
1.400604 1.336064 -4.731239
1.400250 1.317335 -4.751266
1.399509 1.298265 -4.758335
1.398670 1.280024 -4.771294
1.397602 1.261912 -4.787787
1.396191 1.243234 -4.807815
1.394361 1.224118 -4.818418
1.392379 1.205492 -4.826664
1.390324 1.187584 -4.846692
Command: near ang ( dist = 0.008247 )
Command: vel 0.300000
Command: dvel 1.000000
Command: w 3.000000
Command: dw 3.141593
Command: stop_line 1.011486 -0.043082 1.428247
Mode: servo 3
Command: over line ( dist = 1.277004 )
Command: spin 2.999043
Mode: servo 5
Command: near ang ( dist = -1.562550 )
1.387878 1.169488 -4.866720
1.385053 1.151328 -4.880857
1.381814 1.132281 -4.883213
1.378589 1.113590 -4.898528
1.375166 1.095413 -4.918556
1.371525 1.078001 -4.936227
1.367471 1.060196 -4.944474
1.363028 1.041393 -4.953899
1.358547 1.023205 -4.971570
1.353837 1.005440 -4.985708
1.348908 0.987858 -4.998667
1.343419 0.969210 -5.004557
1.338058 0.951385 -5.018694
1.332694 0.934424 -5.036366
1.326918 0.917225 -5.052859
1.320506 0.899124 -5.065818
1.313655 0.880555 -5.070531
1.307337 0.863674 -5.083490
1.300843 0.846986 -5.097627
1.293937 0.829955 -5.116476
Command: near ang ( dist = -1.832334 )
1.286340 0.812190 -5.128257
1.278725 0.794947 -5.137682
1.271240 0.778421 -5.151819
1.263321 0.761575 -5.168313
1.255022 0.744651 -5.180094
1.246364 0.727510 -5.185984
1.238090 0.711364 -5.202477
1.229439 0.695149 -5.226039
1.220409 0.679143 -5.242533
1.210818 0.662779 -5.248423
1.201130 0.646472 -5.254314
1.191651 0.630727 -5.275519
1.181777 0.615087 -5.295547
1.171787 0.599943 -5.312040
1.160949 0.584090 -5.317931
1.150354 0.568786 -5.334424
1.139645 0.553850 -5.350918
1.128762 0.539187 -5.366233
1.117153 0.524038 -5.378014
1.105149 0.508749 -5.390973
Command: near ang ( dist = -2.106831 )
1.093909 0.494809 -5.412179
1.082528 0.481291 -5.428672
1.070538 0.467518 -5.443987
1.057316 0.452790 -5.453412
1.044512 0.438797 -5.468727
1.032223 0.425772 -5.485221
1.019639 0.412867 -5.505248
1.006463 0.399886 -5.520564
0.992664 0.386702 -5.527632
0.979458 0.374262 -5.544126
0.965700 0.361723 -5.560619
0.951738 0.349414 -5.579469
0.937186 0.337065 -5.586537
0.923000 0.325197 -5.594784
0.909262 0.313895 -5.614811
0.894838 0.302506 -5.636017
0.879894 0.291212 -5.648976
0.864330 0.279763 -5.651332
0.849215 0.268700 -5.666648
0.834412 0.258209 -5.685497
Command: near ang ( dist = -2.401355 )
0.819512 0.248066 -5.700813
0.803967 0.237828 -5.710237
0.787632 0.227291 -5.720840
0.771984 0.217429 -5.738512
0.756366 0.207967 -5.751471
0.740627 0.198709 -5.762074
0.723666 0.188973 -5.769142
0.707355 0.179763 -5.786814
0.691609 0.171235 -5.805663
0.675496 0.162897 -5.819800
0.658318 0.154313 -5.828047
0.640753 0.145717 -5.835116
0.624401 0.137857 -5.849253
0.608047 0.130278 -5.866924
0.590807 0.122656 -5.885774
0.572883 0.115133 -5.894021
0.555879 0.108160 -5.905801
0.539122 0.101518 -5.918761
0.521621 0.094842 -5.936432
0.503450 0.088276 -5.948213
Command: near ang ( dist = -2.664071 )
0.485537 0.082040 -5.956460
0.468465 0.076255 -5.974131
0.451070 0.070701 -5.994159
0.433454 0.065463 -6.010652
0.414733 0.060231 -6.014186
0.396561 0.055221 -6.025967
0.378788 0.050546 -6.047173
0.361148 0.046304 -6.068379
0.343307 0.042411 -6.078982
0.324618 0.038541 -6.086050
0.306480 0.034918 -6.106078
0.288042 0.031618 -6.123749
0.270129 0.028738 -6.140243
0.251239 0.026019 -6.147311
0.232563 0.023466 -6.161449
0.214905 0.021306 -6.181476
0.197208 0.019499 -6.199148
0.178777 0.017947 -6.214463
0.158914 0.016580 -6.222710
0.140569 0.015469 -6.236847
Command: near ang ( dist = -2.952704 )
0.122799 0.014645 -6.252162
0.104901 0.014089 -6.271012
0.086170 0.013861 -6.286327
0.066850 0.013922 -6.295752
0.048944 0.014147 -6.312245
0.030573 0.014681 -6.326382
0.012095 0.015480 -6.341697
-0.006958 0.016596 -6.348766
-0.025297 0.017800 -6.360547
-0.043268 0.019193 -6.382931
-0.061672 0.021035 -6.402959
-0.080153 0.023259 -6.412383
-0.099195 0.025733 -6.413561
-0.117418 0.028123 -6.430055
-0.135482 0.030795 -6.450082
-0.153488 0.033828 -6.467754
-0.172018 0.037288 -6.474822
-0.190638 0.040900 -6.485425
-0.208526 0.044568 -6.503097
-0.226462 0.048577 -6.517234
Command: near ang ( dist = 3.050094 )
-0.244569 0.052894 -6.526659
-0.263777 0.057666 -6.536084
-0.281571 0.062264 -6.554933
-0.298820 0.067071 -6.571426
-0.316102 0.072195 -6.584386
-0.334778 0.077996 -6.591454
-0.353412 0.083930 -6.603235
-0.370746 0.089675 -6.620907
-0.387641 0.095608 -6.637400
-0.405210 0.102105 -6.652715
-0.423336 0.109126 -6.660962
-0.440419 0.115905 -6.675099
-0.457404 0.122925 -6.689236
-0.474721 0.130370 -6.708086
-0.492431 0.138383 -6.718689
-0.509414 0.146286 -6.726935
-0.525267 0.153822 -6.744607
-0.541829 0.162057 -6.764634
-0.558432 0.170731 -6.782306
-0.575602 0.180091 -6.787018
Command: near ang ( dist = 2.780309 )
-0.591903 0.189078 -6.798799
-0.607687 0.198024 -6.817649
-0.623198 0.207205 -6.837676
-0.638923 0.216944 -6.848279
-0.655141 0.227227 -6.856526
-0.670778 0.237324 -6.877732
-0.686003 0.247618 -6.894225
-0.700863 0.258027 -6.906006
-0.716269 0.269091 -6.911897
-0.731514 0.280176 -6.928390
-0.745915 0.291016 -6.950774
-0.759978 0.302102 -6.967267
-0.774313 0.313791 -6.980226
-0.789307 0.326345 -6.984939
-0.803343 0.338209 -7.001432
-0.816738 0.349916 -7.019103
-0.830185 0.362095 -7.037953
-0.844088 0.375170 -7.052090
-0.857804 0.388441 -7.061515
-0.870387 0.400848 -7.075652
Command: near ang ( dist = 2.491676 )
-0.883373 0.414019 -7.090967
-0.896319 0.427557 -7.106283
-0.909536 0.441811 -7.114529
-0.921762 0.455215 -7.128666
-0.933719 0.468703 -7.148694
-0.945557 0.482607 -7.166366
-0.957521 0.497173 -7.175790
-0.969642 0.512219 -7.180503
-0.981105 0.526584 -7.199352
-0.992367 0.541257 -7.219380
-1.003123 0.555867 -7.235873
-1.013978 0.571133 -7.239408
-1.024846 0.586534 -7.253545
-1.035496 0.602086 -7.272394
-1.045722 0.617640 -7.288888
-1.055753 0.633459 -7.297134
-1.065964 0.649861 -7.306559
-1.075468 0.665453 -7.326587
-1.084540 0.681029 -7.341902
-1.093545 0.697050 -7.356039
References
-
from 河原貴軌 <b1295223 at planet dot kanazawa-it dot ac dot jp>Wed, 03 Aug 2016 00:44:00 +0900
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from Atsushi Watanabe <atsushi dot w at ieee dot org>Sat, 06 Aug 2016 21:34:56 +0900
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from 河原貴軌 <b1295223 at planet dot kanazawa-it dot ac dot jp>Sat, 06 Aug 2016 22:56:04 +0900
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from Atsushi Watanabe <atsushi dot w at ieee dot org>Sun, 07 Aug 2016 00:12:41 +0900
-
from 河原貴軌 <b1295223 at planet dot kanazawa-it dot ac dot jp>Sun, 07 Aug 2016 17:54:54 +0900
-
from Atsushi Watanabe <atsushi dot w at ieee dot org>Mon, 08 Aug 2016 23:15:54 +0900
-
from 貴軌 河原 <b1295223 at planet dot kanazawa-it dot ac dot jp>Sun, 04 Sep 2016 20:11:54 +0900
-
from Atsushi Watanabe <atsushi dot w at ieee dot org>Mon, 12 Sep 2016 11:49:53 +0900
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2013 copyright (c) T-frog Project All Rights Reserved.