FlyPT Mover 3.7.0.9

The output format template changes from 3.5 to 3.7

SMC3 output string (decimal/ascii and actuators 10 bits)

In Mover 3.5.2:
[A<Axis1a>][B<Axis2a>][C<Axis3a>]

In Mover 3.7.0.x:
[A<R0.A1.B>][B<Ro.A2.B>][C<Ro.A3.B>]

Stuart​

Ok, that's a pretty important change to know. Thanks.

Unfortunately, it still doesn't works.

This is the string that version 3.53 used: 091 065 001 255 093
This is the string that version 3.7 uses: 091 065 127 255 093

My actuator 1 goes straight up. The older version works extremely well.



Pierre.

Hello flypt,
I’ve mentioned my rig setup several times, but here’s a detailed explanation. I’m using 4 rotational motors controlled by 2 SMC3 Arduino Unos. On each Arduino, the second motor needs to be inverted. Your current rig options don’t fully fit my setup.


Before my upgrade, I was using the DOF Reality H3 rig as reference rig in flypt mover, and it worked fine with the second motor inverted and the traction loss motor assigned to Motor 3. Now, I have one motor at each corner, with two Arduino Unos managing the system: one Arduino controls the front left motor (M1) and the front right motor (M2, inverted), while the other Arduino controls the back right motor (M3) and the back left motor (M4, inverted).


In SimHub Motion, I select a rig configuration like the SFX-100 4-corner setup, and it works surprisingly well because it allows me to easily invert individual motors. However, I understand your program is optimized for 6DOF SFX-100 setups, and I really appreciate that. I would be grateful if you could add support for rotational motors like mine. Otherwise, I’ll have to continue compromising with SimHub.


Thank you for your great work and support!

Did you reset the actuators to 10 bits in the rig module? (defaults to 16)​

Guys, just arrived home from Stocholm, will try to answer questions later.
Sorry.

I looked for that option and I could not find it. Either I am looking at the wrong place or I'm looking with my eyes closed.

It is the top numeric field in the "Setup of the four feet linear actuators" pop-up form in the rig module​

There's some bugs on the actuators. They are corrected for the next release that I was supposed to have released already. I'm trying to solve other problems.
But to setup the actuators you need to click the actuators drop down to show the setup window:



This was made to reduce the amount of controls in the window and add some more...
Depending on the rig, you might have one or more of those, for example here you get the control for 4 feet actuators, if there's one for traction loss we get another control since that actuator might use different settings while the 4 feets use the same settings.
For now the ui is this way, but might change to a different aproach soon. Still testing...

Is ist possible to change from linear actuator to rotational to solve the issue I mention before?

Indeed, after finding the parameter and set it to 10 bits, my first actuator worked as expected. But the second one (number 3) did not. Looking at the strings, it is missing data.



Pierre.

I have not tried dual output boards, but I would think actuators 3 and 4 from R0 would be motor A and B on the second output port?​

I will use motor A of 3 board (Arduino, Sabertooth). So, I could be using the wrong strings for my output as I have no idea what those new string means at all.

In 3.5 it seemed like a magic incantation to me. The refactoring in 3.7 suddenly made it clear. The FlyPT object model is accessible to the configurations. The format string [A<R0.A1.B>] means at run time FlyPT will substitute the Binary value of the position of Actuator 1 in Rig 0 into the output string.

The overall sequence of the format string depends on which simulated rig actuator maps to which H-bridge driving which motor in which Arduino​

If you select "Show the bytes in ASCII format" in the serial output module it all becomes much clearer.​

I though that my problem with my last actuator (A3) was that I copy/paste your values and its R with the letter o instead of the number 0 (They look exactly the same with this font). But my actuator does not move (works fine with 3.5).

Ok, the R0 is the Rig 0, the A1 is Actuator 1, but what does mean the first A(BC) and the last B?

B is bytes
PBFC is position in mm or º before aplying the filtering to the actuator and cropping to limits (added for testing in the graphics) PBFC = Position Before Filtering and Cropping
PBC is position in mm or º before aplying cropping to limits, but after filtering (added for testing in the graphics) PBC = Position Before Cropping
P is position in mm or º
T is turns of motor

Also, when you change the values in actuators, the string is not automatically updated (bug).
If connected, it's updated, but if not connected, justs change something to force the update.

I know the string seems more complicated, but this makes all values accessible anywhere with variables.
It works like objects wehre you specify the rig, followed by the actuator, followed by the desired value of the actuator.
Works like this for all the values:
In a direct we have only oone actuator, so no need to specify the actuator: <D0.B>
You can also output a joystick value by using vars: <J.044F040201.AY>>>>>

Or a pose: <P0.SWAY>

Carfull, when using ascii (old decimal), you need to specify the amount of decimal cases. For that, add more > at the end of the value. <R0.A1.P> would output 12 while <R0.A1.P>>> would output 12.45
The number of < specifies the minimum number of digits to show before the dot: <<<<R0.A1.P>>> would output 0012.45


This is the tooltip shown about the string:


You can also drag and drop the values on the right inside the string to make it easier.