Inspection robot

Installation and use noted for 6-legged inspection robot.

Servo with feedback

The servo software is build upon the "Open servo" project, with a slightly modified PCB.

Hardware

• Potentiometer mount:

Green towards motor yellow center Red away from motor

• Power:

At least 6.5V - to allow regulator to give 5V

• @todo:

insert picture of board with connections

Software

P value must be set to (about 50) to make servo run. This gives some overshoot for large steps. A D-value makes it worse.

Need to investigate control-part of servo.

Update rate seems to be slow (~10Hz) investigate.

EMF sense is not in software

Current has some reaction, but no reaction to load? - investigate.

RHD plugin

A new plugin is uploaded using USBISS converter to i2c - should be changed to i2c on target platform

Setting and main status for N servos (up to 24) implemented. Debug status for 1 servo implemented (first 48 registers are monitored)

Commands (write with register adress above 0x7f) is working

0x82 (130) enable PWM
0x83 (131) disable PWM
etc - see main.c in software

Change of i2c address is not implemented/tested (there is a save to eeprom command)