I've got everything connected properly, I'm able to communicate with the board properly too.
A couple things seem odd though:
1) When using the calibrate command "c" it appears that all 4 knee servos and the head tilt servo move.
The others don't appear to move (nothing is attached so it might just be that I can't see it. But I don't hear it either)
2) When I Validate, the knees will move to the 'stand' position, but only go just below 90 degrees for the 'rest' position. They do not move nearly as much as the 'resting' picture shows.
Do you have screenshots of your serial monitor and a video/picture to show your servo wiring?
Thanks for looking into this :)
(I"m pretty sure I've got the board upside down for mounting, so I must also have Left/Right swapped)
Hi, from your video I can tell that the servos are working, and the wiring is also correct. However, the way to connect the down legs at the calibration state is the opposite. You really need to turn the board over and reconsider the direction.
I've turned the board over and reconnected everything. I've also run Nybble.ino and tested each joint to make sure they're correct i.e. "m13 10" to move the right front knee 10 degrees.
Sorry - I'm not really seeing how to make the change.
I apologize for being so difficult...
how does the 'd' and 'kbalance' look like now?
Same as before...No change
Put the cat's left front shoulder on your left and observe.
When you enter a positive value, such as 'm8 30', does the limb rotate counterclockwise (positive direction as in polar coordinates)?
Yes (the knee rotated towards the rear)
Could you re-run the writeInstinct.ino and enter 'Y' for all the three prompts to overwrite the EEPROM?
OK, Done!
does it work now?
No - exactly the same. "d" only moves them about 45 degrees, not the almost 90 shown in the pictures.
'd' won't rotate 90 degrees. It should be about 45 degrees. Try to attach the legs to the shoulder servos at calibration state, then test 'd' again.
I'm expecting the knee joint to 'close down' nearly 90 degrees from the 'c' state as shown in the manual but they only reach about 45degrees from 'c':
That's not a problem. The example rest posture was taken after the cat was pushed flat. If you install the legs and try 'kbalance', the cat should stand up.
"Pushed flat" (by hand?)! I thought the 'd' rest state was supposed to fold down that far via the servos!
Based on that, I don't think anything is wrong... D'oh!
When the legs are installed, they will be supporting the body weight. With 'd' command, the servos will shutdown and the cat will lay flat.
Ok, I'll assemble it and try it. I'll re-post here if it doesn't work. Thanks again.
FYI - Here's a video after assembly - starting position 'd', then 'kbalance', then 'd' again:
Also - How do I test the Ultrasound sensor and the RGB LED ?
There are test codes in ModuleTest folder in the OpenCat folder.
Again - thanks for your time !