Information for people who have an old Poppy, the resistance of the dynamixel wires is growing when the wire is getting older.
For instance, for the torso, I had the following voltages during “push-up” (my Poppy is 1 year old) :
- bust_x : 11.1V
- bust_y : 10.4V
- abs_z : 9.5V
- abs_x : 9.1V
- abs_y : 8.9V
After changing the wires :
- bust_x : 11.1V
- bust_y : 11.1V
- abs_z : 11.1V
- abs_x : 11.1V
- abs_y : 11.0V
And the reactivity of the robot is amazing.