Servo 9 movement doesn't look right
Hi guys,
I posted this question on the Kickstarter page but I figured this is a better place to ask for technical support? Sorry for the double post 😓
I calibrated my Bittle and flashed latest firmware. However servo 9 doesn't seem quite right to me:
(0:18) `m8 70` does exactly what it should do. Upper left arm swings 70°
(0:36) `m9 70` spins the upper right arm for *more* than 70°, the elbow hits the body pretty hard
(0:03) shows calibration is alright.
This one shows going left VS going right, gyro off:
I assume with gyro off, going-left and going-right should look exactly the same. But you can clearly see going left is acting funny there.
Did I miss anything? Will be very grateful for any help.
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The differences in m8 and m9 at 70 degrees are acceptable, considering the servo is still using a potentiometer for position control.
Could you remove the silicone toe covers and check how it walks forward, left, and right? The walking parameters were tuned without them. The legs will behave differently when scratching the ground and amplify the inconsistency in the system. The toe covers help for some experimental cases when grip is the key factor.