- ESP32
- IMU (not implemented)
- 12 servos TowerPro mg90d (hope it will work)
- Two 18650
- Arduino IDE compatible
- use power sensor and IMU
- Print servo_calib tool and install servo into it: circle plate with dots, 10deg each from 0 to 180.
- use tools/servoCalib.ino and connect servo to 14 pin
- open Arduino IDE terminal and input
1500
(and press Enter) - this should be servo middle and it should point to the middle dot of printed tool - decrease value to find
minAngle
anddegMin
values for it (start with800
and decrease it until servo stop move, than return back one step, e.g. set 790 - servo moved, 780 - servo moved, 760 - servo don't move, use 780) - do the same to find
maxAngle
anddegMax
but make value and start from 2100 and increase values - great, now we know our servo limits (or at least what are the limits for lib+servo), time to find more accurate servo positions
- input values until you will not find proper positions for deg30, deg50...deg130, deg150
- to assembly legs correctly print leg_calib tool/template one as it is and one mirrored for the other side of robot for Beta and Gamma angles, as also Alpha angle tool
- power up servo and connect ESP32 to you computer, open Arduino IDE terminal
- input
set servo_to_calib
to set all servo to position expected for printer tool - assemble legs as closer as possible to expected leg parts positions according to the tool (90deg, 45deg, 90deg)
- repeat steps 2,3 of Legs->Assembling instruction
- input
set help
to see the list of available commands, we are interested inXX_HAL_trim_xxxx
, e.g.LF_HAL_trim_alpha
, whereLF
- left front leg, andalpha
is the angle name - put Alpha leg tool on top of the robot legs servo, surface of tool should be (near)perfectly align with servos body, if not, use
XX_HAL_trim_alpha value_in_deg
command to set servo trim value, e.g.set LF_HAL_trim_alpha -3
, it should not be too big, in other cases you need to repeatAssemble
step - using tool for Beta and Gamma angles, calibrate/trim other servos