Q&A

Q1: How can we know the servo is damaged?

A1: In Servo Test step, if the servo rocker arm shake, get stuck or can not rotate smoothly, with an abnormal sound, we can judge it as a damaged one.

Q2: Why the Sloth reboots in running?

A2-1: If the Sloth is in lower power, rebooting will happen, please charge the battery in time.

A2-2: It could be the servos are lacking for power. Open the program and go to Line 12, 13. “vel” is the servos rotating speed in “initialization or moving forward”; “vel_Back” is the servos rotating speed in “moving backward”; “delay_Forward”, “delay_Back” are the delays between two moving forward loops and moving backward loops.

  1. If rebooting happens in moving forward actions, you can decrease the value of “vel“ or/ and increase the value of “delay_Forward”. For example, decrease “vel” value to 10, and increase “delay_Forward” to 1500.

  2. If rebooting happens in moving backward actions, you can decrease “vel_Back” or/ and increase “delay_Backward”. For instance, decrease “vel_Back” to 8, and increase “delay_Backward” to 1500. You can adjust to a proper value as you want. Then click Upload.

_images/qa1.png

Q3: Sloth walks too slowly when it moves forward. How to solve this?

A3: Sloth’s default speed is middle speed, the related sketch is “vel(mid), delay_Forward(mid) = (20, 750)”. You can change the speed value as shown below to adjust the walking speed.

_images/qa2.png

change the value of vel and delay_Forward in line12 and 13 to as shown:

vel = 50, delay_Forward = 500

Then click Upload.

Note

If you adjust the robot to a high walking speed, it may fall down and break. Thus it’s better to do some protection for the Sloth.

Q4: Sloth walks too slowly when it moves backward. How to solve this?

A4: Considering the structure of Sloth, it’s better do adjust a slow speed for backward walking. If you want to adjust the walking speed, refer to Q3 to adjust the value. DO NOT adjust a high speed for walking backward to avoid possible falling down.

Q5: How to make the sloth more stable in walking?

A5: Cut to get two paper cushion for the robot feet, and stick them on the Sloth soles to maintain enough friction for a stable walking.

Q6:What is macro definition (#define)?

A6: The #define creates a macro, which is the association of an identifier or parameterized identifier with a token string. After the macro is defined, the compiler can substitute the token string for each occurrence of the identifier in the source file.

You can use the #ifdef directives anywhere #if can be used. The #ifdef identifier statement is equivalent to #if 1 when identifier has been defined. It’s equivalent to #if 0 when identifier hasn’t been defined, or has been undefined by the #undef directive. These directives check only for the presence or absence of identifiers defined with #define, not for identifiers declared in the C or C++ source code.

In sloth code, we use #define and #ifdef to start corresponding functions.