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9 posts

3D printing, robotics and programming

🔧 Project

Calibration of biped robots

1. Using Processing

Give new users an easy interface to work with. One that is not as scary as the serial monitor.

Follow this link to the full project and all details

2. Using desktop App by @Jason Snow

Try this desktop App it will ask you to install .NET Framework 3.5

It is like the mobile App but on your PC using USB to send all commands

3. Using Otto Blockly with the calibration block

The most simple way so far but annoyingly need to reupload the code until by iteration you achieve the right alignment of the motors.

It is a default example in Otto Blockly ready to open

Change the legs and feet values gradually with small values and increments(+5 or - 5 degrees)

Iteratively you have to check/upload the code multiple times, until Otto legs and feet looks completely straight.

Read this article for more details:

4. Using Otto Blockly with serial monitor for assistance and adjustment

I just made this "basic" example of how to quickly calibrate Otto servo motors, we have seen very good methods here with Arduino IDE, but this one aims to make it simple for beginners.

Just open/upload then start serial monitor and follow the instructions.

It is very handy because is fast and easy to leave your Otto perfectly calibrated in one upload.

But It needs improvement and actually, I found out we are missing blocks for it so we will need to create new blocks just... (More)


Pretty thorough.

I think builders should also look at how servos are used with the Pico where 100 Hz is commonly used for the PWM signal. I have gone higher, but there is a limit before things go wrong. You can also change the refresh interval in the servo header file, but that might be a bit advanced. RC helicopters go up to 400 Hz which is pushing the limit.

It would also have been nice to see a comparison of servo control when the signal is at 3.3V rather than 5V. I have a small handful of servos that don't seem to care, but the vast majority run slower at the lower voltage, which would be expected fom the 'logic' side of things.

Hi Guys

I am very happy that finally had time to compare these two new expansions after soo many iterations and thanks to Piers Kennedy calibration it was a breeze to make them walk properly. It is funny that after calibration they both are steering to the right, I must have done something wrong? Please let me know.

On the left there is the Otto esp8266 as promised testing the walk, as you can see it walks quite decent even with the servos at 3.3V I am using an ubec+lithium as Bill SCHONFELDER does in his robots. Anyways I want to leave the esp on hold until we properly document all the new expansions and finish the design for wheels module. But if you like it, feel free to explore it.

On the right is the humanoid expansion I think is gonna be a hit and with the hammer it looks really cool! Can't wait to start some battles or make it play some drums?

This biped races are gonna be fun for the tournament
🔧 Project

Otto.moveLegs() function

coded in Blockly
coded in Blockly