Changes between Version 67 and Version 68 of UserGuideGit

Timestamp:

Nov 16, 2017, 1:07:29 PM (8 years ago)

Author:

fma

Comment:

--

UserGuideGit

@@ -185 +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.
 
-We are now ready to fine tune the ''SNP'', and set its matching ''JNP''. To do this, we move the '''Pulse''' slider until we mechanically reach the ''JNP''. Then, we move the '''Joint neutral''' slider to match the theoretical ''JNP'' for that specific joint (as we seen, coxa = 0°, femur = 180°, tibia = 90°). Then, we click the '''Set pulse''' button of the joint neutral setting. This recomputes the '''offset''' and '''pulse90''' params of the {{{SERVO_CALIBRATION}}} table.
+We are now ready to fine tune the ''SNP'', and set its matching ''JNP''. To do this, we move the '''Pulse''' slider until we mechanically reach the ''JNP''. Then, we move the '''Joint neutral''' slider to match the theoretical ''JNP'' for that specific joint (as we seen, coxa = 0°, femur = 180°, tibia = 90°). Then, we click the '''Set pulse''' button of the joint neutral setting. This recomputes the '''offset''' and '''neutral''' params of the {{{SERVO_CALIBRATION}}} table.
 
 Then, we need to tune the ratio. This step is a little bit harder, as we need to measure the angle the joint really moves. The best way is to move up to +-90°, as it is visually easy to see, but it is not always mechanically possible, and we can restrict the range to +-45°.