Upgraded my burger motors to waffle motors

Technical Support
1

Hi all,

I had a burger bot with me but then I upgraded the motors of it to the waffle motors which I purchased from Robotis ( XM430-W210 ) with everything kept as the same (the opencr board, the pi, wires everything). I followed the steps to setup the opencr with waffle configuration files but now even though everything compiled without any hiccup, and when I’m launching the bringup, and using teleop to change the /cmd_vel value but still motors don’t move. So do help out guys if I’m missing any obvious step in the process, it would be really helpful.

2

Hello Mak,

Have you confirmed the Baudrate and IDs of the XM430s match the previous actuators / what is in your code?

3

Also by default the XM430 are likely in Position Control mode and not Wheel mode. Please check that too.

4

Do you happen to know how can I change that?

5

Do you happen to know how can I do that? Would it be via the Pi itself using dynamixel_workbench_toolbox or by directly accessing the OpenCR board?

7

@mak401
According to the e-manual for TurtleBot 3, OpenCR is tightly coupled to the RPi software-wise. So it is best to go a different route to fix the ID and Operating Mode issues for your XM DXLs.

Do you happen to have access to a U2D2? Do you a Windows PC that you can use?
I need these details to come up with the right procedure for you.