My pantilt is acting sort of crazy

Version 13 (Rich LeGrand, 01/30/2015 11:42 am)

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h1. My pan/tilt is acting sort of crazy
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The pan/tilt mechanism should track objects smoothly.  If it doesn't, here are a few things to try/check. 
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h2. 1. How are you powering Pixy?  
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If you are powering Pixy through the Arduino cable instead of through the USB cable, or the "power connector":/projects/cmucam5/wiki/Powering_Pixy, the servos are not going to get enough power.  This is because the Arduino typically can't source enough current for the servos (1 Amp), and the Arduino cable tends to drop significant voltage.  There are more details "here":/projects/cmucam5/wiki/Powering_Pixy on using the power connector, which is recommended in this case. 
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h2. 2. Are you using a USB hub?
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The pan/tilt servos need more power than most USB devices.  Using a hub is likely to result in not enough power getting to the servos.  Plug Pixy into your computer directly (no USB hub).  
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h2. 3. Try a different USB cable
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Powering servos over USB is great because you don't need to worry about batteries, but there can be problems with not enough voltage reaching the servos.  Always use a USB cable that's 3 feet or shorter, and if it's still having problems try another cable if you can.  USB cables aren't all created equal -- some have flimsy-gauge wire that can cause problems.   
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h2. 4. Check to make sure there is no mechanical binding
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Unplug Pixy from power/USB and gently check the pan axis by moving it back and forth over its entire travel.  It should move fairly easily and smoothly.  Then test the tilt axis by moving the *servo horn* back and forth (not Pixy!).  It too should move fairly easily and smoothly and not bind on any cables.
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When Pixy is plugged into the USB cable, make sure there is plenty of cable for Pixy to look up and down, left and right.  
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h2. 5. Check the connections
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This is an obvious one, but make sure the connectors that plug into Pixy are secure and fully engaged (you shouldn't see any of the terminal posts on Pixy -- each servo connector should completely cover the terminal posts on Pixys servo connector.)  
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h2. 6. Does the pan/tilt seem to avoid the object?
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That's not good!  But it's usually caused by the pan and tilt servos being swapped where they plug into Pixy.  Try swapping the servo connectors where they plug into Pixy so they are correct.
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h2. 7. Do you get a good solid rectangle in PixyMon when running the "pan/tilt demo"?
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If the rectangle changes shape rapidly or you see lots of rectangles (detected objects), Pixy will have a hard time tracking.  You should probably re-teach.  Or you may need to adjust some parameters -- consult [[Some Tips on Generating Color Signatures|this guide]] to learn more.
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h2. 8. Test the servos
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Run PixyMon and hit the stop button (upper left corner of PixyMon).  In the command window type this, hitting <return> after each line:
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rcs_setPos 0 1000
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rcs_setPos 0 0 
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rcs_setPos 1 1000 
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rcs_setPos 1 0 
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This should exercise the pan servo first then the tilt servo.  The movement should be smooth and rapid.  If not, make a note of which servo is acting strange. and send us an email describing your experience (
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h2. 9. Reduce the frequency
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From PixyMon bring up the Configuration Parameters dialog (Preferences in Mac).  In the "Servo" tab change the "Servo Frequency" to a lower value, from 100 to 75 or 60 and see if that improves the behavior of your pan/tilt servos.  This suggestion is somewhat experimental, so please send us a note if this helps!  You can select *Action&#10140;Restore default parameters* to get back if it doesn't help.