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Shutter on ROB...
This is really weird. When I execute a shutter open command to ROB, the servo
moves a small distance, not the commanded distance, and then I receive an
incorrect packet (7 0x00's) after ~1/4 second. Generally, if I try long enough,
the command will succeed when the servo moves to the correct distance. It's not
my controlling code, as the problem comes and goes (sometimes) with no changes
on my side.
I used to fix this problem by re-flashing the stamp. That no longer
fixed the problem at some point. I then put in a new stamp, and the problem
went away for a couple of months. Now, it's back. I was going into the stamp
code trying to figure out if I could affect the problem by putting delays around
the maservo code. After 15 to 20 tries of flashing/running/repeat, the problem
went away for a bit, but it came back again.
I think I have some extra servos of the type used which I will try, but I'm
hoping someone might of seen this, or have an idea of what's going on. This
weekend I'll try putting back in the original stamp and re-flashing code.
Although I'm not completely sure, the problem does appear to be associated with
the stamp part itself (or the servo somehow). I do have another compatible
stamp part(BS2P24), but am very hesitant to put it in at the cost of $75 for a
replacement...
The problem also appears to be only happening to the maservo "22", not "14".
I've included a section of my logging, the problem child "22" and a successfull
operation on "14". No other commands are encountering this problem. This run
ended shortly after by failing to operate the shutter after 10 retries...
04/11/03 21:46:02 TC[12531]: <02.606> motor_on - turning on motor: DEC_DRIVE
04/11/03 21:46:02 TC[12531]: <02.608> <48159;?6> Prepped with check bytes
04/11/03 21:46:02 TC[12531]: <02.610> <48159;?6> Sent
04/11/03 21:46:02 TC[12531]: <02.628> <48159;?6> Received packet in 0.02 seconds
04/11/03 21:46:02 TC[12531]: <02.630> <48159;?6> Check response passed
04/11/03 21:46:02 TC[12531]: <02.648> Received <S>
04/11/03 21:46:02 TC[12531]: <02.658> <48159;?6> Received packet in 0.05 seconds
04/11/03 21:46:02 TC[12531]: <02.660> <48159;?6> Check response passed
04/11/03 21:46:02 TC[12531]: <02.662> maservo - writing 22 with position 40
04/11/03 21:46:02 TC[12531]: <02.663> <270=:285> Prepped with check bytes
04/11/03 21:46:02 TC[12531]: <02.665> <270=:285> Sent
04/11/03 21:46:02 TC[12531]: <02.678> <270=:285> Received packet in 0.01 seconds
04/11/03 21:46:02 TC[12531]: <02.680> <270=:285> Check response passed
04/11/03 21:46:03 TC[12531]: <03.028> <^@> <0x00> received and tossed 1
04/11/03 21:46:03 TC[12531]: <03.030> <^@> <0x00> received and tossed 1
04/11/03 21:46:03 TC[12531]: <03.031> <^@> <0x00> received and tossed 1
04/11/03 21:46:03 TC[12531]: <03.033> <^@> <0x00> received and tossed 1
04/11/03 21:46:03 TC[12531]: <03.034> <^@> <0x00> received and tossed 1
04/11/03 21:46:03 TC[12531]: <03.036> <^@> <0x00> received and tossed 1
04/11/03 21:46:03 TC[12531]: <03.038> <^@> <0x00> received and tossed 1
04/11/03 21:46:05 TC[12531]: <05.668> Timed out waiting for <S>
04/11/03 21:46:05 TC[12531]: <05.710> <> Failed to receive complete response in
3.04 seconds: 1
04/11/03 21:46:05 TC[12531]: <05.718> Received a check response failure
04/11/03 21:46:05 TC[12531]: <05.719> Executing retry 1
a few retries later:
04/11/03 21:46:14 TC[12531]: <14.929> Executing retry 4
04/11/03 21:46:14 TC[12531]: <14.938> <270=:289> Prepped with check bytes
04/11/03 21:46:14 TC[12531]: <14.939> <270=:289> Sent
04/11/03 21:46:14 TC[12531]: <14.958> <270=:289> Received packet in 0.02 seconds
04/11/03 21:46:14 TC[12531]: <14.959> <270=:289> Check response passed
04/11/03 21:46:16 TC[12531]: <16.358> Received <S>
04/11/03 21:46:16 TC[12531]: <16.368> <270=:289> Received packet in 1.43 seconds
04/11/03 21:46:16 TC[12531]: <16.369> <270=:289> Check response passed
A good shutter operation:
04/11/03 21:46:16 TC[12531]: <16.371> maservo - writing 14 with position 55
04/11/03 21:46:16 TC[12531]: <16.373> <1709;370> Prepped with check bytes
04/11/03 21:46:16 TC[12531]: <16.374> <1709;370> Sent
04/11/03 21:46:16 TC[12531]: <16.388> <1709;370> Received packet in 0.01 seconds
04/11/03 21:46:16 TC[12531]: <16.389> <1709;370> Check response passed
04/11/03 21:46:17 TC[12531]: <17.798> Received <S>
04/11/03 21:46:17 TC[12531]: <17.808> <1709;370> Received packet in 1.43 seconds
04/11/03 21:46:17 TC[12531]: <17.810> <1709;370> Check response passed
Cheers,
Rob
--
21:31:36 up 17 days, 4:17, 3 users, load average: 4.67, 4.52, 4.33
Linux 2.6.5-02 #8 SMP Mon Jul 12 21:34:44 MDT 2004
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