Changes between Version 67 and Version 68 of Tutorials


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Timestamp:
Nov 16, 2017, 1:23:59 PM (8 years ago)
Author:
fma
Comment:

--

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  • Tutorials

    v67 v68  
    230230
    231231SERVOS_CALIBRATION = {
    232     0: {'offset': _90., 'pulse90': 1500, 'ratio': -1000/90.},  # coxa leg RF
    233     1: {'offset':  90., 'pulse90': 1500, 'ratio': -1000/90.},  # femur leg RF
    234     2: {'offset':   0., 'pulse90': 1500, 'ratio':  1000/90.},  # tibia leg RF
    235 
    236     4: {'offset': -90., 'pulse90': 1500, 'ratio': -1000/90.},  # coxa leg RM
    237     5: {'offset':  90., 'pulse90': 1500, 'ratio': -1000/90.},  # femur leg RM
    238     6: {'offset':   0., 'pulse90': 1500, 'ratio':  1000/90.},  # tibia leg RM
    239 
    240     8: {'offset': -90., 'pulse90': 1500, 'ratio': -1000/90.},  # coxa leg RR
    241     9: {'offset':  90., 'pulse90': 1500, 'ratio': -1000/90.},  # femur leg RR
    242     10: {'offset':  0., 'pulse90': 1500, 'ratio':  1000/90.},  # tibia leg RR
    243 
    244     15: {'offset': -90., 'pulse90': 1500, 'ratio': -1000/90.},  # coxa leg LR
    245     14: {'offset':  90., 'pulse90': 1500, 'ratio':  1000/90.},  # femur leg LR
    246     13: {'offset':   0., 'pulse90': 1500, 'ratio': -1000/90.},  # tibia leg LR
    247 
    248     19: {'offset': -90., 'pulse90': 1505, 'ratio': -1000/90.},  # coxa leg LM
    249     18: {'offset':  90., 'pulse90': 1500, 'ratio':  1000/90.},  # femur leg LM
    250     17: {'offset':   0., 'pulse90': 1500, 'ratio': -1000/90.},  # tibia leg LM
    251 
    252     23: {'offset': -90., 'pulse90': 1500, 'ratio': -1000/90.},  # coxa leg LF
    253     22: {'offset':  90., 'pulse90': 1500, 'ratio':  1000/90.},  # femur leg LF
    254     21: {'offset':   0., 'pulse90': 1500, 'ratio': -1000/90.},  # tibia leg LF
     232     0: {'offset':   0, 'neutral': 1500, 'ratio': -0.090},  # coxa leg RF
     233     1: {'offset': 180, 'neutral': 1500, 'ratio': -0.090},  # femur leg RF
     234     2: {'offset':  90, 'neutral': 1500, 'ratio':  0.090},  # tibia leg RF
     235
     236     4: {'offset':   0, 'neutral': 1500, 'ratio': -0.090},  # coxa leg RM
     237     5: {'offset': 180, 'neutral': 1500, 'ratio': -0.090},  # femur leg RM
     238     6: {'offset':  90, 'neutral': 1500, 'ratio':  0.090},  # tibia leg RM
     239
     240     8: {'offset':   0, 'neutral': 1500, 'ratio': -0.090},  # coxa leg RR
     241     9: {'offset': 180, 'neutral': 1500, 'ratio': -0.090},  # femur leg RR
     242    10: {'offset':  90, 'neutral': 1500, 'ratio':  0.090},  # tibia leg RR
     243
     244    15: {'offset':   0, 'neutral': 1500, 'ratio': -0.090},  # coxa leg LR
     245    14: {'offset': 180, 'neutral': 1500, 'ratio':  0.090},  # femur leg LR
     246    13: {'offset':  90, 'neutral': 1500, 'ratio': -0.090},  # tibia leg LR
     247
     248    19: {'offset':   0, 'neutral': 1505, 'ratio': -0.090},  # coxa leg LM
     249    18: {'offset': 180, 'neutral': 1500, 'ratio':  0.090},  # femur leg LM
     250    17: {'offset':  90, 'neutral': 1500, 'ratio': -0.090},  # tibia leg LM
     251
     252    23: {'offset':   0, 'neutral': 1500, 'ratio': -0.090},  # coxa leg LF
     253    22: {'offset': 180, 'neutral': 1500, 'ratio':  0.090},  # femur leg LF
     254    21: {'offset':  90, 'neutral': 1500, 'ratio': -0.090},  # tibia leg LF
    255255}
    256256}}}
    … …  
    259259
    260260* {{{offset}}} is the angle between the servo reference and the real angle. See the [[FAQ#Howisgeometrydefined|FAQ]] for the real angles definition;
    261 * {{{pulse90}}} is the pulse value for the neutral position of the servo, which is usually 90°;
    262 * {{{ratio}}} is the pulse width per degree.
    263 
    264 Offsets may vary, depending how you mount the servos. Same, ratio sign may have to be inverted on one side, if you have a symetrical design; all angle are always computed using trigonometric direction (CCW).
     261* {{{neutral}}} is the pulse value for the neutral position of the servo;
     262* {{{ratio}}} is angle per pulse width.
     263
     264Offsets may vary, depending how you mount the servos. Same, ratio sign may have to be inverted on one side, if you have a symmetrical design; all angle are always computed using trigonometric direction (CCW).
    265265
    266266See the [[UserGuideGit#Servoscalibration|user guide]] how to fine tune servos calibration.