Running low-speed tests of simultaneous 3-axis arm movements on the C-3PO mech to get a feel for the control software and also to adjust the range of motion for the individual motors.
This is after extensive tuning of the PID settings for all 8 gearmotors and setting upper and lower position limits using their encoder values. The Roboclaw controllers are now running in RC mode, getting their PWM signals from a Pololu Maestro, which is in turn taking its commands from the VSA software.
This is the first time I’ve ever done anything on this level of sophistication with motion control. It’s intoxicating.
Негізгі бет Ойын-сауық Animatronic C-3PO Arm Motion Test
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