Leg transfer speed increases less than expected

[06 hexapod]

Hello everyone,

I'm using the MSR-H01 and I have configured a DLT of 1.00 s.

Then I'm sending 8 times the '8' SIM control (via Gtkterm or via a Microcontroller using C, it doesn't matter), so I should reach the highest possible Leg Transfer Speed, 0.2 s.
The Hexapod has become faster, but only slightly.

I am able to increase the leg transfer speed about 40 times until the fastest is reached. So the increase of each command (the '8' SIM control) should be approximately 0.8 s / 40 = 0.02 s.

What have I done wrong? Or is there an error in the HexEngine Guide (p.Brain-HexEngine Packet Interface Protocol Guide V1.2, page 4)?

By the way: Reset using the '9' command seems to work properly.


Greetz 06 Hexapod

[Matt Denton]

I'll take a look at this and get back to you. What version of the firmware are you using?

[06 hexapod]

Hello,

I can see "v1.2" and "micromagic Robotics EBL 08/2008 HexEngine"

[Matt Denton]

Hi,

That sounds like the bootloader version on the sticker? Could you check the firmware version within the terminal, it should be displayed at the top left of the screen when you access the Hexengine using the RJ232 lead.

What your describing an increase of 0.02s per command sounds like it incrementing one frame at a time as the hexening runs at 50fps, 1/50 = 0.02s. This may be the case, and I may have fixed it in later firmware versions, but will need to know which version you have. also what hardware are you using, p/Brain-u24 or older p.Brain-DS.

[06 hexapod]

I don't have any access to the Hexapod over the weekend.

But I can tell you that I use p/Brain-u24 and that the Hexapod was bought last year in the beginning or mid of November and delivered December 5th.

Maybe this will help you until Monday.