How to get the current signals from the bittle X's motor?
How to get the motor signals like current signals from the bittle X's motor?
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my blog for bittle, hope helpful
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pybullet sim to real transfer
I want to train Bittle in pybullet and then transfer it onto the robot.how should i do it?
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Gero
Jan 19
Amitabha wrote a very nice howto: https://www.learnwitharobot.com/p/training-a-reinforcement-learning
Reading and writing Bittle's joint angles on a MacBook
I trained a reinforcement learning model for my Bittle using Isaaclab. It can move around in a simulated physical world. I want to communicate with Bittle via my Mac, collect the angle of each joint as input to the trained policy model, obtain the joint angle at the next time step, and then send it to Bittle for execution. My question is, does Bittle provide this functionality (reading and writing joint angles)?
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Rongzhong Li
Jan 16
When talking about reading joint angles, it may refer to:
Extracting the angle from the memory. It should be exactly the same angle you sent previously. The currentAng[] array keeps all that data.
Reading the actual angle from the servos because they could be moved by external force. You can find the corresponding code in OpenCatEsp32 for reading the servo feedback.
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The servo uses PWM and doesn't support returning current information. It can return position information: https://guide.petoi.com/apis/serial-protocol/feedback-servos