Thanks to Benerator for providing good leads!
For the OBB, it’s basically just a ZIP archive. I can start a thread later in case somebody needs instructions on how to install the already missing Mekamon app from backup, or wanted to revert from the special 2.99 FW to the official 2.18 FW.
BTW, the stomping motion only happens when an older FW(1.10 and special 2.99) is connected to the app either the Mekamon(2.30 app version for the 2.18 FW) or Reach Edu app. It can be characterized as a continous “walking on the spot” motion. Degree of control varies:
- 2.99 supports all app touch control and mekamotions
- 1.10 supports directional controls, no rotational control or Mekamotions.
Note that as I have mentioned, it doesn’t happen when connected to the matching app. E.g. 2.99 FW on the special app. It’s appears to be protocol related. I cheated the latest 2.30 app and downgraded the OBB FW version tag from 2.18 to 1.0. This way I can still use the latest app to control a Meka on 1.10 FW and still play with the USB Serial debug commands.
It also had the stomping motion when connected to BLE. So perhaps, the newer app was sending some unsupported commands that gets translated to the stomping motion. While on the 1.10 FW, sending the Mekamotions doesn’t work but what’s cool is the debug is streaming BLE commands as the Mekamotion plays.
On the Mekamon Base Controller in the special Raspbian image, I can confirm that its their middleware between ROS and USB serial. This module contains these functionalities in the code. It seems to be limited though based on what’s described on the documentation. I think the Firmware holds the key still to understanding all the supported commands. However if it’s only for kinematics and joint control, it should suffice.