Today the teacher helped Dave and I finalized how many pins we have to have to run what we want to run on our arm [20 pins = (1 motor power, A and B channels) * 5 + brakes * 4 + brake common]. Then our prof. helped us with a pseudo code for the running of a single servo - foward and backwards, and what we needed to find out to get that pseudo code to work. Our group needs to find out which direction is the forward (Channel A before B) and which is the backward (Channel B before A).
After class with Larry, we will hook up the oscilloscope to the arm to determine the directions, the degrees in a single cycle, and the number of cycles in a full range motion.
Elbow - 35 cycles from home to full
Shoulder -
Wrist Pitch -
Wrist Yaw/Roll -
Waist -
John spent the whole time with the other group, helping with the testing of the encoders of the arm.
Larry will be buying the terminal wire male and female ends, of which our group will split the cost. We will solder the tips and ends to the wire rather than crimping it. $12 + S&H (if any), thus approx. $4 each of us.
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