I go to check movement and nothing works.

[aduncan1157]

Power up the Raspberry Pi. Run: sudo pigpiod cd BrachioGraph python3 And then, using the inner_arm and outer_arm length measurements (in cm) that you noted earlier: from brachiograph import BrachioGraph bg = BrachioGraph(inner_arm=, outer_arm=) The system will create a BrachioGraph instance and initialise itself, adjusting the motors so that the pen will be at a nominal: x = -inner_arm y = outer_arm And this will correspond to: the upper arm at -90 degrees, 1500µS pulse-width the lower arm at 90 degrees to it, 1500µS pulse-width the lifting motor in the pen up position, 1700µS pulse width Check the movement We must make sure that the arms move in the direction we expect. Run:

bg.set_angles(angle_1=-90, angle_2=90)

Once I change the values nothing moves. I triple checked my wiring and even replaced the wires and servos.

[nerijus-st]

You have to insert your control wires exactly to these pins: shoulder motor: GPIO pin 14 elbow motor: GPIO pin 15 lifting motor: GPIO pin 18

[evildmp]

Try one servo at a time.