Implement pca9685 & linear acuator logic in hand/finger class

[naterpotatoers]

After meeting with Andrew we got better idea of how to our robots finger logic. Datasheet values for finger pulse width ranges 2.0 ms pulse commands the controller to fully retract the actuator, and a 1.0 ms pulse signals it to fully extend Now we need to create the logic for storing the PCA96855 pins - e.g.

• thumb = 0
• index = 1
• middle = 2
• ring = 3
• pinky = 4

Then we'll need to map max/min angles to max/min pulse width for fingers as described by datasheet.

[Coreyboy1820]

So there's no specific angle to set the fingers, its just stationary = 0ms, 1ms = retract, and 2ms = extend? Or will our driver handle and convert it to angles?

[Andrew-Ingerman]

There is supposed to be a function that converts it to angles

[Coreyboy1820]

Alright thanks. Are you working on this right now?

[Andrew-Ingerman]

Alright thanks. Are you working on this right now?

Yeah

[Andrew-Ingerman]

• Move Finger logic back into hand so we don't replicate the PCA 5 times.

[Coreyboy1820]

• Move Finger logic back into hand so we don't replicate the PCA 5 times.

Can you tell me why we need to do this rather then putting the PCA in the hand class itself?

[Coreyboy1820]

Doing this would make us need to create 5x the code of the finger class inside of hand.

[naterpotatoers]

Yeah but it removes the complication of have 5 instances of the pca device. We might go back to finger class once we know that it works with this much simpler solution