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License: MIT License
matlab/python/arduino code for controlling the robot
License: MIT License
Python advantages:
Matlab advantages:
Rather than assuming they lie in the center of each link
Magnetometer seems miscalibrated. Could either use the full AHRS code that ships as an example if we fix this, or just the direct gravity reading if we don't.
This might not be necessary
The potentiometers measure spring displacement between the servo angle and the joint angle. We should try and convert these into units of torque.
RobotBase.joint_angles
in robot.py
, which will fix the visualizer to show itRobot.joint_torque
member, that delegates to Robot.target_adc_reading
after conversionSo that this thing can actually be clamped to anything
Possibly an MPU6050 compass and gyro - useful for detecting a fall.
Sensor is at address 0x68 and 0x69
Maybe tie a pen to the end and draw on squared paper to verify that we do it?
By tweaking them and writing down the values that are close to 0 and 90
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