I'm trying to get Nybble calibrated but I'm seeing very erratic behaviour when I enter commands like s for save or d for rest. Repeating the calibration procedure sends the joints in wild directions. Something is seriously wrong. I have determined which nybble joints respond to which c-commands. I have connected the various Nybble joints to the PWM pins on my V0_2 board as follows: Joint # 0 1 2 ---------8 9 10 11 12 13 14 15
PWM pin 7 0 8 5 2 1 10 4 3 12 11
c-cmnd 12 13 15 4 5 6 7 0 1 3 2
Is this right?
I finally realized what I'm doing wrong. I'm slavishly assigning the same PWM pin assignments from V0_1 to the board V0_2. I should be assigning the same board POSITION to the servo connections. Although joint 13 goes to pin 3 on V0_1, and pin 3 on V0_2 is only a centimeter away, it is better for the wiring if joint 13 is attached to pin 0 on V0_2 which is in the same position on the board.