SSU V1.25 Release

[Donamy]

Checked in revised S6 truss mesh, texture and SC3 ini. Has correct size and facing radiator panels.

Question, should the grapple points face in or out of the grapple fixtures ?

 

[Urwumpe]

Question, should the grapple points face in or out of the grapple fixtures ?

Uh, good question. I think we use outward.

I at least for the payload fixtures, I am sure.

 

[SiameseCat]

Speaking of A8 panels, will this finally see the move the RMS data output like joint angles from a debug string text output at the bottom of the screen to the actual panel displays? That way we could have both EE position and attitude readouts available simplifying RMS operations.

The A8 panels will not have the RMS data displayed. I was planning on doing this after the V1.25 release.

 

[Donamy]

The RMS Parent arrow point into the EE, is this correct ?

 

[DaveS]

The A8 panels will not have the RMS data displayed. I was planning on doing this after the V1.25 release.

OK on that.

 

[Donamy]

Is there a way to incorperate a cheat for now, to get the RMS to snap to grapple config, when the RMS is close to grapple, so the payload doesn't move from it's position ?


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check in fixed S6.ini that corrects the grapple points direction.

 

[DaveS]

Any progress made on the various bugfixes?

 

[SiameseCat]

Progress on the RMS is going pretty slowly. I've got most of the basic RMS stuff transferred in to the RMS System class, but the IK bugs are giving me a lot of trouble.

 

[DaveS]

Progress on the RMS is going pretty slowly. I've got most of the basic RMS stuff transferred in to the RMS System class, but the IK bugs are giving me a lot of trouble.

Well, thought so. IK is very complex(at least for me!) so killing off any bugs a is time-consuming process.

On my end, I have picked my old LCC/FR project and so far I have made alot of progress on FR4. Basic interior right now is about 85% complete. Just have a few more floors and stair steps to add.

 

[SiameseCat]

I've just checked in an updated version of the RMS IK code. It should work correctly now (I hope). The current version does not save the RMS joint angles; this will be fixed.

 

[DaveS]

I've just checked in an updated version of the RMS IK code. It should work correctly now (I hope). The current version does not save the RMS joint angles; this will be fixed.

IK has stopped working. I just moves the RMS is short jumps then stops moving. Single Joint(SJ) ops work fine however.

 

[SiameseCat]

I had this working earlier, but I made a couple of changes just before I checked it in, which seems to have broken it.


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IK should be working now.
The RMS joint angles are saved to the scenario file now. The elbow pitch number is different from how it was saved in previous versions; this means that old scenarios will have the elbow joint at an odd angle. If anyone wants, I can change the code to use the old behaviour.

 

[DaveS]

Bug: RMS is deployed even when ROLLOUT in the scenario is set to 0 and the A8L talkbacks show that the RMS is stowed.

 

[Urwumpe]

Would it help if we could separate the software part of the RMS (Inverse and forward kinematics) from the physical mechanics (joint motors and joint angles, vibrations and elasticity)?

 

[SiameseCat]

DaveS: I'll look at the rolout problems.
Urwumpe: At the moment, the 'physical mechanics' aren't really simulated. As things stand, the software and hardware are mostly separated; the IK stuff just calculates the required joint angles and calls the functions needed to set the angles.

 

[Urwumpe]

Urwumpe: At the moment, the 'physical mechanics' aren't really simulated. As things stand, the software and hardware are mostly separated; the IK stuff just calculates the required joint angles and calls the functions needed to set the angles.

Yes, but if the roll-out is affected by working on the IK code, it sounds like this code is not separated clean enough.

 

[SiameseCat]

The rollout bug is not related to the IK code; I've been changing the RMS code quite a bit and this is where the bug came from.

 

[Urwumpe]

The rollout bug is not related to the IK code; I've been changing the RMS code quite a bit and this is where the bug came from.

oh, OK. I must have missed this information. :blush:

 

[DaveS]

The RMS right now is completely shot. Doesn't respond to any commands and the A8L talkbacks is completely unusable. Definitely needs more work.

 

[SiameseCat]

Should be fixed soon; I messed up the initialization code with my earlier check-in.


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Should be fixed now. The only things that still don't work are the STOW button on the dialog and the MPM latches.

The MPM bug was occuring because the RMS subystem is only created after the 'RMS' line is found in the scenario file. Because of a change I had made to the code, the RMS subsystem wasn't created. This setup also means that the RMS line MUST appear above all other scn entries associated with the RMS, which may not be a good thing. Any comments?