Reply To: NiryoOne V2 Dynamixel xl430-w250 not reaching goal position2018-10-30T10:55:46+00:00

Forums Niryo One Troubleshooting NiryoOne V2 Dynamixel xl430-w250 not reaching goal position Reply To: NiryoOne V2 Dynamixel xl430-w250 not reaching goal position

Edouard Renard
Keymaster
Post count: 106

c++:internal compiler error: Killed (program cc1plus)

invoking “make -j4 -l4” failed

This is because the Raspberry Pi 3B can’t keep up with 4 cores, and the program crashes. You have to use “catkin_make -j2 -l2” so it will use only two cores 🙂

…Failed to find dynamixel

In fact, the Dynamixel workbench works well when you have a USB to Dxl adapter (there is a microcontroller on the adapter which handles the half-duplex communication). On the Raspberry Pi 3B + custom Niryo RPi shield, this won’t work like that. We added some hardware component to handle the half-duplex comm.

So we had to modify the dynamixel_sdk to work with our setup, you can find the modification here on github.

Conclusion -> either you

1. Try to use dynamixel workbench with our customized dynamixel_sdk

2. Get a USB to Dxl adapter

3. Or wait a few days before we publish a script that will allow you to directly change (during runtime) the values inside Dynamixel motor registers 🙂