Changes between Version 61 and Version 62 of UserGuideGit

Timestamp:

Nov 13, 2017, 3:35:31 PM (8 years ago)

Author:

fma

Comment:

--

UserGuideGit

@@ -161 +161 @@
 [[Image(py4bot-gui-servocal.png, 300px)]]
 
-Most servos have a range of 180°. So, it is important to mount them on the robot so the servo neutral position (''SNP'') match the joint neutral position (''JNP''). Here is the leg neutrals usually used for a 3 DoF leg:
+Most servos have a range of 180°. So, it is important to mount them on the robot so the servo neutral position (''SNP'') matches the joint neutral position (''JNP''). Here is the leg neutrals usually used for a 3 DoF leg:
 
 [[Image(IK3DoF_neutral.png, 300px)]]
@@ -169 +169 @@
 In the above position, ''SNP'' are all 90°, as it is standard servo neutral position for 1500µs.
 
-Looking how '''Py4bot''' internally manages angles (http://www.py4bot.org/wiki/UserGuideGit#a3DoFlegs), we can see that in this same position, ''JNP'' are:
+Looking how '''Py4bot''' internally manages angles (http://www.py4bot.org/wiki/UserGuideGit#a3DoFlegs), we can see that in this position, ''JNP'' are:
 
  * coxa = 0°
@@ -181 +181 @@
 Offsets and ratios are defined in the {{{SERVO_CALIBRATION}}} table. This table also has a '''pulse90''' param, to fine tune the ''SNP'' (it is not always possible to mount the servo so 1500µs is the perfect ''JNP'').
 
-Py4bot has a graphical tool, '''{{{py4bot-gui-servocal.py}}}''', to help set up this table once the robot is build. Here is how to use it.
+Here is how to use '''{{{py4bot-gui-servocal.py}}}'''.
 
 We first need to enable the servo, by clicking the '''Enable''' checkbox. Then, we need to check if the servo rotates the right direction: increasing the pulse value should make the joint turning in the trigonometric sense regarding our previous schematic. If it is not the case, click the '''Invert''' checkbox (usually, coxa joints are all the same, and other joints should be inverted for legs of one side, but it depends if there is a symmetry in the mechanics or not). Note that from within this tool, the servo direction won't change! But the ratio will be inverted, so '''Py4bot''' computes angles the right way.