I’ve been using
goto_position() with the robot abstraction on a set of 5 MX-28s with a bps of 1000000 and the default 50Hz refresh rate. But for some reason, I keep getting inconsistent playback of moves I record.
What I mean is, when I first power the motors, record a move and play it back, the move is fast, jerky, and seems to miss frames. I have a helper function that moves my motors back to a neutral position over 1.0s, that I often run after playing a move. I have relatively small angle limits, so this happens fairly slowly. When I play back a move after this, the move is played back very smoothly, but very slowly! It seems like it’s not properly changing motor speeds. Has anyone experienced this issue? Is there something I’m missing?
Thanks so much for any advice!