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"Mixed" Control of DXLs in ENGINEER kits

I was studying the example MTN3 and MicroPython codes for the AUTOBOT example. For this robot, DXL 15 and 16 are set into wheel mode while the remaining DXLs are set into Velocity-based Position Control mode, see screen capture below:

Inside the example MTN3 file for the Autobot, I saw that DXLs 15 and 16 are defined inside the Motion Units but set to Position 2048 (i.e. 0 degree) at all times, see screen capture below:

Thus, DXLs 15 and 16 are not really controlled by Motion Units or Pages per se, as they are directly controlled from inside the MicroPython code. Compared to the MINI and BIOLOID systems, this is a significant departure in the controlling procedure for these DXLs, independently from Motion data. Within the “older” MINI and BIOLOID systems, DXLs 15 and 16 would simply not be defined within the Motion file at all, and then they would be directedly controlled from inside a TASK code. I have looked at the e-manual information for the CM-550 and the XL-430 family, but so far I did not see any further information regarding this topic of “Mixed Control” of DXLs. I think that users everywhere would appreciate some more information regarding this topic, as users start to expand on the provided example robots for ENGINEER Kits 1 and 2.

Of course, follow-up questions are many for me! For example, would the “new” ENGINEER control approach/procedure work for these 2 cases:

  1. All DXLs are in Velocity-based Position Control mode, but the user wants to control certain DXLs outside of MOTION data?
  2. Some DXLs are set in Velocity-based Position Control mode (to be controlled within Motion Units) and some DXLs are set in Time-based Position Control (to be controlled directly from TASK or MicroPython codes). Would this option be feasible with the current firmware on the CM-550 and XL-430 family? Would the time-based DXLs still need to be defined within the MTN3 file (i.e. Motion Units)?

Thank you very much for your support.

i think once the python API is disclosed, some of your questions might be answered.
Since Task 3.0 will automatically detect and display any connected DYNAMIXEL regardless of their control modes, there may not be a way to avoid adding them into the motion list.
I don’t have much information about CM-550 and Task 3.0, but will get back to you with more details from developers.
Please allow me some delay due to the Lunar New Year holiday from tomorrow till Sunday.
Thank you.

Hello @willson,

That is exciting news that the MicroPython API is soon to be released.
I have developed some work around solutions using TORQUE ON/OFF whenever appropriate, so I am back on track again.

Today (4/27/2021), ROBOTIS released V. 3.14 of TASK 3 to the International Community, and this issue is now resolved. Python codes also load up very smoothly now too!
Thank you ROBOTIS!