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我的电脑和机器人都已连接到我的热点，，ping会收到信号，然后我如下操作：
ssh khadas@…
cd BRUCE/BRUCE-OP/
./bootup.sh
之后一直回车，机器人手臂会动，但是无法平衡。接着就报下面的错误
Low-Level Thread Error! Terminate Now!
我用screen查看后台，有一下内容：
khadas@Khadas:~/BRUCE/BRUCE-OP$ screen -ls
There is a screen on:
2191.bruce (07/12/2023 07:48:47 PM) (Attached)
1 Socket in /run/screen/S-khadas.
khadas@Khadas:~/BRUCE/BRUCE-OP$
之后如何解决这个问题呢？We need to see what causes the error in the low-level thread.
1. Press Ctrl+Alt+T to leave the top-level window and do not quit bootup.sh.
2. In a new terminal, command “screen -r bruce -p low-level”. Now you can see what happened in the low-level thread.1.Press Ctrl+Alt+T and nothing happens
2.khadas@Khadas:~/BRUCE/BRUCE-OP$ screen -r bruce -p low-level
There is a screen on:
2585.bruce (07/13/2023 03:59:24 PM) (Attached)
There is no screen to be resumed matching bruce.khadas@Khadas:~/BRUCE/BRUCE-OP$ screen -r bruce -p low-level
There is no screen to be resumed matching bruce.I am so sorry. There is a typo in the command I gave, which should be “screen -r bruce -p low_level”. You can verify all the window names in the bootup.sh.
Make sure you run the bootup.sh until the end and press Ctrl+A+D and do not quit. Then in a new terminal, command “screen -r bruce -p low_level”, which will lead you to the low-level thread. You can also check other threads, e.g., “screen -r bruce -p bear” will take you to the BEAR thread, which communicates with the motors of the leg.
If the motor in the leg is broken, BRUCE cannot initialize and stand at all.
The problem now is that the legs cannot be initialized and stand, the arms can be initialized. So, is the motor in the leg broken?
You can find all the info related to the BEAR actuators here (https://www.westwoodrobotics.io/support/).
There are two main reasons why the legs cannot be initialized:
1. Motor error. You can check the LED on the motor when it is turned on. Green means good and red means error.
2. Communication error. The onboard laptop cannot find the motors.Either, you can run the BEAR thread to identify which error causes the issue. In the terminal, command “python3 -m Startups.run_bear”.
1. If the thread cannot run at all, it is communication error. You can try to replug the USB2BEAR dangle and check all the BEAR signal cables.
2. If the thread can successfully ping the motors, the error status will display and you can check Page 17 in the SDK mannual (English version) to identify the error.1.Turn on the power, and the LED lights on the motor are both red and green.
2.When I type the following command：python3 -m Startups.run_bear，I get the following result：Pinging BEAR 01…
3.By the way, Will reversing the polarity of the power supply cause this kind of malfunction?1. So there is error.
2. This means the USB2BEAR dangle is good but cannot find BEAR 01. We need to find out where the connection is broken, i.e., which motor/signal is broken. The BEAR actuators are connected in a daisy chain and the sequence is 6,7,8,9,10,1,2,3,4,5. We can first try pinging BEAR 06. In the “Util” folder, edit line 22 of the “test_BEAR.py” file. Read only BEAR 06 instead of all, i.e., change “[1, 2, 3, 4, 5, 6, 7, 8, 9, 10]” to “[6]”. Run the file by commanding “python3 -m Util.test_BEAR”. If everything until BEAR 06 is good, the communication frequency will be shown, otherwise error message. You can repeat these steps for the rest motors until you find the issue.
3. Yes, reversing the power supply can burn the powerhub and the microcontroller in the motor. The LED might survive tho. You can verify if the powerhub is fine by checking other components, e.g., IMU and foot contact.
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