| 185 | | 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. |
| | 185 | 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 increase the joint angle (= make in turn in the trigonometric sense in the leg coordinate system). 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 is inverted, so '''Py4bot''' will compute angles the right way. |
