This repo contains the source code for the latest LoopO implementation.
The device is based on a pimoroni servo motor board and 4 micrometal motors with encoders. One motor is needed LoopO and the other 3 are used for LoopO-twist, alongside other sensors.
The code is based on the pimoroni rpi pico boilerplate. I recommend following their instrusctions to fully set up the build environment. The device communicates to the computer through serial.
Numerical codes can be sent to control the device similarly to the robotis dynamixel protocol. Each control message is formed as follows:
| ID | Command | Value |
|---|---|---|
| 1 Byte | 1 Byte | 4 Bytes |
| char | char | float |
| ID | Device |
|---|---|
| 1 | extension |
| 2 | twist |
| 3 | loop |
| Command | Ext Action | Twist action | Loop Action | Required value |
|---|---|---|---|---|
| 0 | set enable | set enable | set enable | 0-1 |
| 1 | set control | set control | set control | 0-1-2-3 |
| 2 | set speed | set speed | set speed | float |
| 3 | set position | set position | set position | float |
| 4 | set velocity | set velocity | set velocity | float |
| 5 | home | home | home | float |
| 6 | none | set force | set offset | float |
| Value | Approach |
|---|---|
| 0 | Speed |
| 1 | position |
| 2 | velocity |
| 3 | Force (only available to loop) |
After each message is received and applied a status message is sent back. A feedack message will be provide after any message sent, even malformed or empty ones, the latter is useful for logging purposes. each message is composed of 11 values separated by ":"
| 0 | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 |
|---|---|---|---|---|---|---|---|---|---|---|
| extension position | extension status | extension control | twist position | twist offset | twist status | twist control | loop position | loop force | loopp status | loop control |
| value | Meaning |
|---|---|
| 0 | DISABLED |
| 1 | IDLE |
| 2 | HOMING |
| 3 | MOVING |
| 4 | LIMIT |
| 5 | STUCK |
| 6 | GRIPPING (only for loop) |