AUTHOR: Logan Duong

Your show and tell can be about anything you accomplished other than research. This is about an action realized.

<aside> ❓ Tutorial: Clearly explain the necessary information and actions to arrive at an outcome

</aside>

Outcome

Initial Goal: Deliver power to the dynamixels though the Luos boards and detect it. Bonus: Move the dynamixel to a specified position

Realized Outcome: Success

Steps to achieve outcome

Determine how power is delivered from a power supply to the Luos network. As specified on Luos' documentation, the luos network will accept the highest available voltage level (up to 24V). In our case, we are running the arm module on 12V.

Power is delivered through two boards made by Pollen, first a power distribution "alim" board. Then it routes to a jack power board. From the Jack power board, it converts the connector into the Robus connector which is then plugged into the Luos network containing the Dynamixel Board.

When I first connected power to the dynamixel board, I could not detect any motor through the terminal. Initially, I thought this was a software issue and reflashed the firmware. After that didn't work, I checked the power connections and probed around checking that each connection at every stage was according to the schematic. I verified that there were several problems with the setup.

The main problems with the setup were:

1. No switch was attached with the alim board
2. The connector on the jack power input board was attached on the wrong side of the board

Before everything was connected, I also did some digging into the voltage regulator that is present on all the L0 boards. This is the chip: