eric-wieser / cued-4m20-robot Goto Github PK

Python advantages:

• Easier to write a faster communication protocol with the arduino (due to having threads)

Matlab advantages:

• All team members have experience?

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.

• Find the zero position for torque
• Find the conversion factor between adc offset and angular displacement
  • Integrate it into RobotBase.joint_angles in robot.py, which will fix the visualizer to show it
  • Build a feedback-controller in the arduino that regulates the overall position
• Find the conversion between angular displacement and torque, using some known force
  • Add a Robot.joint_torque member, that delegates to Robot.target_adc_reading after conversion

So 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