My robot is working fine for all moves except the circle move. I might be misunderstanding the logic perhaps someone can assist. I have been following the video tutorial using a roll of tape as Chris does but I get very different behavior.
I jog to the center if the tape and create a new "Move C Center" move.
Next I jog in X and Y to the edge of the tape and create a "Move C Start" move.
Then I jog in X and Y to another edge of the tape and and create a "Move C Plane" move.
When I execute this program the robot does not behave as it does in the video. Initially it tries to rotate the wrist upside down, then draws a circle in the X-Z plane. Sometimes it hits an axis limit instead or drives down into the table below the tape level. I have tried various orientations and circle sizes. The robot is fully calibrated, moves perfectly in all axis and completes arc moves etc. Thanks
Can you tell me what version of the software you are running?
@chris-annin Yep I see there is also a new Arduino sketch. Ill update the Teensy to version 5.0 and use version 5 of the software and get back to you.
Ok I have updated the Teensy firmware to 5.0 and using the 5.0 control software and I'm getting the same behavior. It rapidly and erratically rotates the wrist to some odd angle and then draws the circle in the Z plane or at some angle between Z/X/Y.
@chris-annin Just to close the loop on this. After much experimentation I have found that the initial move is incorrect but if I open a different script then re-open the circle move script I get the correct behavior. It is only if I make the script and then immediately run the code that I get the error. Interestingly the same thing occurs with tabs. tabs are ignored if I make them and run the code, but work correctly when the code is reloaded. Not a big deal can just reload before running but thought I'd put here incase someone else has the same issue.
@alastair-green Interesting. thank you for the follow up. I will need to dig into this bug and see why reloading is needed.
