Hi. When AIBO shut down (due to an error) it saves two files names BOOTPARA and EMON.LOG. These files have traces of what was the robot executing when the error happened. You can download them to your PC (they are at the OPEN-R memory stick folder), and execute "crashdebug", a program which is at "Tekkotsu\tools" folder. You should do "crashdebug -f <location-of-emon.log&bootpara-files>/emon.log"...it will give trace in which module (mainobj, motoobj, etc) is the instruction which caused the error, and what was the function it was executing (sometimes this is not useful, for example when executing a template, or internal function)...if you wait more time (many time!!) it will give you the assembler code too (which, for me is not useful).....

The majority of crashing errors I've found are due to pointer/memory issues (for example, trying to "delete" a not created( "new") object); or due to too much forced joint positions (e.g. trying to move the legs to an impossible angle, or with a too fast movement)....

Ignacio Herrero Reder / Tl. +34-95.213.71.60
Dpto. Tecnologia Electronica / Fax: +34-95.213.14.47 E.T.S. Ing. Telecomunicacion / nhr@... Universidad de Malaga / http://www.dte.uma.es
Campus Universitario de Teatinos 29071 Malaga, Spain 

magda.bugajska escribió:

How would I capture some kind of error output from the AIBO to debug this? BTW, I'm
running the latest cvs version (or at least the STABLE one).

--- In tekkotsu_dev@yahoogroups.com, "magda.bugajska" <magda.bugajska@...> wrote:
>
> I've been trying to get WaypointWalkControl running on my ERS7. I added an
eggocentric
> waypoint X 0.3 (with angle is relative checked by default), but when I try to execute it,
the
> robot plays the death song and shuts itself down.
>
> I had to remove some of the behaviors from the Startup files and sounds in order to fit
> everything on the stick. Could I have deleted something that this Controler needs?
Looking
> through the code I don't think so, but ...
>
> Does something else need to be running before I start this controller?
>
> I tried loading the walk posture just before executing the controller just in case in was
having
> trouble getting started moving and tripping some limit switches, but that didn't help.
Should
> I be loading some other posture?
>