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Topic-icon Automatic history sending corrupts command priority switching

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2 months 2 weeks ago #29534580 by petroslj

Context: RoboteQ SDC2130 dual controller. Initially setup in default mode with serial then RC priority. The RC input initially works fine to control the robot. Once a serial command is sent to start automatically sending position updates (history # nn), the RC control never works thereafter. This seems to contradict the documented behavior.

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2 months 2 weeks ago #29534581 by petroslj

Further investigation seems to indicate the cause is related to other unanticipated communication activities. Pure history streaming by itself did not inhibit RC action.

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2 months 2 weeks ago #29534585 by petroslj

Problem traced to unintended setting of PID parameters (via serial port) by master computer that were incompatible with RC mode.

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2 months 1 week ago #29534596 by Gabriel_Isko

How was the computer setting the PID values? I am quite curious...

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2 months 1 week ago #29534600 by petroslj

Master computer sent a series of serial commands of the form:
^KP 1 10\r
and similarly for KI, KD and other parameters.

It also set values for several other modes and options.

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