1.문제발생
로봇암의 information을 보면
ATOM ok
servo1 ~ 6 no 로 뜨며,
Calibration기능도 안먹히고, ATOM은 항상 초록불로 활성화 되는 문제가 생겼다.
2.해결
<첫 번째 시도>
elephant robotics社의 다운로드 센터에가서 mystudio를 다운받아 펌웨어를 업데이트 해본다.
다운링크 : https://www.elephantrobotics.com/en/downloads/
usb연결하면 자동으로 로봇 stack을 잡음.
메인창 진입.
도큐먼트 쪽 가면 펌웨어 관련 내용/링크 있음.
펌웨어 강의 링크 : https://www.bilibili.com/video/BV1Qr4y1N7B5/
펌웨어 링크 : https://docs.elephantrobotics.com/docs/gitbook-en/4-BasicApplication/4.1-myStudio/4.1.2-myStudio_flash_firmwares.html
<ATOM V5.0펌웨어 업데이트 시 메세지>
esptool.py v3.1-dev
Serial port COM5
Connecting....
Chip is ESP32-PICO-D4 (revision 1)
Features: WiFi, BT, Dual Core, 240MHz, Embedded Flash, VRef calibration in efuse, Coding Scheme None
Crystal is 40MHz
MAC: e8:6b:ea:31:4e:4c
Uploading stub...
Running stub...
Stub running...
Changing baud rate to 1500000
Changed.
Configuring flash size...
Auto-detected Flash size: 4MB
Compressed 8192 bytes to 47...
Writing at 0x0000e000... (100 %)
Wrote 8192 bytes (47 compressed) at 0x0000e000 in 0.0 seconds (effective 3486.0 kbit/s)...
Hash of data verified.
Compressed 17392 bytes to 11186...
Writing at 0x00001000... (100 %)
Wrote 17392 bytes (11186 compressed) at 0x00001000 in 0.1 seconds (effective 1081.4 kbit/s)...
Hash of data verified.
Compressed 305728 bytes to 131883...
Writing at 0x00010000... (11 %)
Writing at 0x00014000... (22 %)
Writing at 0x00018000... (33 %)
Writing at 0x0001c000... (44 %)
Writing at 0x00020000... (55 %)
Writing at 0x00024000... (66 %)
Writing at 0x00028000... (77 %)
Writing at 0x0002c000... (88 %)
Writing at 0x00030000... (100 %)
Wrote 305728 bytes (131883 compressed) at 0x00010000 in 2.5 seconds (effective 973.0 kbit/s)...
Hash of data verified.
Compressed 3072 bytes to 129...
Writing at 0x00008000... (100 %)
Wrote 3072 bytes (129 compressed) at 0x00008000 in 0.0 seconds (effective 1523.3 kbit/s)...
Hash of data verified.
Leaving...
Hard resetting via RTS pin...<minirobot 펌웨어 전 메세지>
Prompt
Optimization content of this version:
1. Zero calibration, only needs to be calibrated once. When entering, it is completely relaxed (with damping), and when calibrating a single joint, it is completely relaxed.
3. Drag teaching: Automatically power on after recording, the end LED light turns yellow during recording, and turns green at the end of recording.
2. Under transponder, when exiting communication, it will not fall.<minirobot 펌웨어 후 메세지>
esptool.py v3.1-dev
Serial port COM4
Connecting....
Chip is ESP32-D0WDQ6-V3 (revision 3)
Features: WiFi, BT, Dual Core, 240MHz, VRef calibration in efuse, Coding Scheme None
Crystal is 40MHz
MAC: 08:f9:e0:d1:89:60
Uploading stub...
Running stub...
Stub running...
Changing baud rate to 921600
Changed.
Configuring flash size...
Auto-detected Flash size: 16MB
Compressed 8192 bytes to 47...
Writing at 0x0000e000... (100 %)
Wrote 8192 bytes (47 compressed) at 0x0000e000 in 0.0 seconds (effective 8189.4 kbit/s)...
Hash of data verified.
Flash params set to 0x024f
Compressed 17392 bytes to 11186...
Writing at 0x00001000... (100 %)
Wrote 17392 bytes (11186 compressed) at 0x00001000 in 0.1 seconds (effective 1071.6 kbit/s)...
Hash of data verified.
Compressed 1491040 bytes to 970981...
Writing at 0x00010000... (1 %)
Writing at 0x00014000... (3 %)
Writing at 0x00018000... (5 %)
Writing at 0x0001c000... (6 %)
Writing at 0x00020000... (8 %)
Writing at 0x00024000... (10 %)
Writing at 0x00028000... (11 %)
Writing at 0x0002c000... (13 %)
Writing at 0x00030000... (15 %)
Writing at 0x00034000... (16 %)
Writing at 0x00038000... (18 %)
Writing at 0x0003c000... (20 %)
Writing at 0x00040000... (21 %)
Writing at 0x00044000... (23 %)
Writing at 0x00048000... (25 %)
Writing at 0x0004c000... (26 %)
Writing at 0x00050000... (28 %)
Writing at 0x00054000... (30 %)
Writing at 0x00058000... (31 %)
Writing at 0x0005c000... (33 %)
Writing at 0x00060000... (35 %)
Writing at 0x00064000... (36 %)
Writing at 0x00068000... (38 %)
Writing at 0x0006c000... (40 %)
Writing at 0x00070000... (41 %)
Writing at 0x00074000... (43 %)
Writing at 0x00078000... (45 %)
Writing at 0x0007c000... (46 %)
Writing at 0x00080000... (48 %)
Writing at 0x00084000... (50 %)
Writing at 0x00088000... (51 %)
Writing at 0x0008c000... (53 %)
Writing at 0x00090000... (55 %)
Writing at 0x00094000... (56 %)
Writing at 0x00098000... (58 %)
Writing at 0x0009c000... (60 %)
Writing at 0x000a0000... (61 %)
Writing at 0x000a4000... (63 %)
Writing at 0x000a8000... (65 %)
Writing at 0x000ac000... (66 %)
Writing at 0x000b0000... (68 %)
Writing at 0x000b4000... (70 %)
Writing at 0x000b8000... (71 %)
Writing at 0x000bc000... (73 %)
Writing at 0x000c0000... (75 %)
Writing at 0x000c4000... (76 %)
Writing at 0x000c8000... (78 %)
Writing at 0x000cc000... (80 %)
Writing at 0x000d0000... (81 %)
Writing at 0x000d4000... (83 %)
Writing at 0x000d8000... (85 %)
Writing at 0x000dc000... (86 %)
Writing at 0x000e0000... (88 %)
Writing at 0x000e4000... (90 %)
Writing at 0x000e8000... (91 %)
Writing at 0x000ec000... (93 %)
Writing at 0x000f0000... (95 %)
Writing at 0x000f4000... (96 %)
Writing at 0x000f8000... (98 %)
Writing at 0x000fc000... (100 %)
Wrote 1491040 bytes (970981 compressed) at 0x00010000 in 14.7 seconds (effective 810.1 kbit/s)...
Hash of data verified.
Compressed 3072 bytes to 129...
Writing at 0x00008000... (100 %)
Wrote 3072 bytes (129 compressed) at 0x00008000 in 0.0 seconds...
Hash of data verified.
Leaving...
Hard resetting via RTS pin...<pico 펌웨어 전 메세지>
v1.3
New in this version:
1. When starting up, the first time a point is issued, it will not return to zero first and will move normally.
2. Stop during movement and the robotic arm will not fall.
Optimization content:
Motion control optimization.<pico 굽고 난 뒤 메세지>
esptool.py v3.1-dev
Serial port COM6
Connecting....
Chip is ESP32-PICO-D4 (revision 1)
Features: WiFi, BT, Dual Core, 240MHz, Embedded Flash, VRef calibration in efuse, Coding Scheme None
Crystal is 40MHz
MAC: 10:06:1c:0b:2e:38
Uploading stub...
Running stub...
Stub running...
Changing baud rate to 921600
Changed.
Configuring flash size...
Auto-detected Flash size: 4MB
Compressed 8192 bytes to 47...
Writing at 0x0000e000... (100 %)
Wrote 8192 bytes (47 compressed) at 0x0000e000 in 0.0 seconds (effective 58311.0 kbit/s)...
Hash of data verified.
Compressed 17392 bytes to 11186...
Writing at 0x00001000... (100 %)
Wrote 17392 bytes (11186 compressed) at 0x00001000 in 0.1 seconds (effective 1083.8 kbit/s)...
Hash of data verified.
Compressed 366064 bytes to 176968...
Writing at 0x00010000... (9 %)
Writing at 0x00014000... (18 %)
Writing at 0x00018000... (27 %)
Writing at 0x0001c000... (36 %)
Writing at 0x00020000... (45 %)
Writing at 0x00024000... (54 %)
Writing at 0x00028000... (63 %)
Writing at 0x0002c000... (72 %)
Writing at 0x00030000... (81 %)
Writing at 0x00034000... (90 %)
Writing at 0x00038000... (100 %)
Wrote 366064 bytes (176968 compressed) at 0x00010000 in 2.9 seconds (effective 1021.1 kbit/s)...
Hash of data verified.
Compressed 3072 bytes to 129...
Writing at 0x00008000... (100 %)
Wrote 3072 bytes (129 compressed) at 0x00008000 in 0.0 seconds...
Hash of data verified.
Leaving...
Hard resetting via RTS pin...<작동 확인>
캘리브레이션 과정 중 ATOM의 빨간불이 제대로 들어옴 확인.
총평:
결론은 펌웨어를 도큐먼트대로 업데이트 해주면 다시 작동한다.
그러나, 그리퍼 동작은 자주 끊기는 문제가 있었다.
ROBOT:ART