We've also been figuring out how to communicate with the servos through the servo shield rather than directly from the Arduino. While Arduino control uses the convenient Servo.write() function, the servo shield requires the program to specify the range of angles as well as the PWM pulse width. Calibrating the servos has been a bit of a challenge, because the servo horn has to be attached at an agnel that gives sufficient range of motion in the correct direction. Then, in code, we need to determine and correct the offset from the zero point.
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