Compared to the stock standard pose, the only differences are on the left (aside from additional servos), and only apply to servos not at middle position of throw where middle is same for either rotation direction.
- Code:
Srv 0: RN A18: Right Leg, Ankle Left / Right =100 Robozak = 100 OK
Srv 1: RN A19: Right Leg, Ankle Fwd / Back = 76 Robozak = 76 OK
Srv 2: RN A20: Right Leg, Knee =145 Robozak = 145 OK
Srv 3: RN A21: Right Leg, Hip Fwd / Back = 93 Robozak = 93 OK
Srv 4: RN A22: Right Leg, Hip Left / Right =100 Robozak = 100 OK
Srv 5: RN D0: Left Leg, Ankle Left / Right =100 Robozak = 100 OK
Srv 6: RN D1: Left Leg, Ankle Fwd / Back = 76 Robozak = 30 *46 Difference
Srv 7: RN D2: Left Leg, Knee =145 Robozak = 80 *65 Difference
Srv 8: RN D3: Left Leg, Hip Fwd / Back = 93 Robozak = 100 *7 Difference
Srv 9: RN D4: Left Leg, Hip Left / Right =100 Robozak = 100 OK
Srv 10: RN B12: Right Arm, Shoulder Rotate =100 Robozak = 100 OK
Srv 11: RN B13: Right Arm, Shoulder Swing = 30 Robozak = 30 OK
Srv 12: RN B14: Right Arm, Elbow = 80 Robozak = 80 OK
Srv 13: RN C6: Left Arm, Shoulder Rotate =100 Robozak = 100 OK
Srv 14: RN C7: Left Arm, Shoulder Swing = 30 Robozak = 76 *46 Difference
Srv 15: RN C8: Left Arm, Elbow = 80 Robozak = 145 *65 Difference
You can see that the different positions on the left are only where the angle is not "100" (90 of 0 to 180).
As these positions aren't mirrored, one would expect them to be either side of 90 (in MRC-3024, 100 = 90, using an offset of 10 for all servos), but that isn't the case...
46 makes sense, with 8 positions on the hub, each being 45 degrees from each other, the 1 being a rounding error. The 7 difference looks like the servo plugs are switched, as the other 93 on Robozak (3rd from right on your standard pose on Robozak) is on a servo the RN-1 doesn't use, and isn't mirrored left to right on Robozak, which makes me think something is plugged in differently (and the value probably shouldn't match based on what is there thus far - error in Robozak instructions?). The fun one is the 65 difference - I can't quite explain that one, but I still think it's attributable to rotation and hub mounting.
Considering how these were likely kitted, the servos probably showed up in one box (not a left / right box) from Hitec, all with the same rotation, and likely shipped that way.
Personally, I'd check all plugs and make sure everything is where it should be relative to the RN-1. I'd go through every servo and program each's rotation (if I recall, the MRC-3024 can be used to program them, I'd have to dig and / or experiment to give more info) as it is on the RN-1 (reversed on bot's left side, normal on right). I'd do the same for the additional servos. Then, I'd go through every position on the bot and check servo hub mounting position relative to the RN-1 instructions...
Let me know what you find, and please post some video and pics!!
Paul
Statistics: Posted by PaulL — Thu Apr 23, 2015 10:29 am
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