The too-wide legs just won't work, because when driven backward they can easily catch on the side and cause massive currents while the controller tries to push it harder and harder. Also, it looks like too little of the shaft is clamped on w/ the leg mount because of the leg width.
We need a working leg/mount combination for the test cart, along with a rubber grip that covers about half the length of the leg. The two of you need to get this done so that we can test walking routines on the test cart.
@boleary134 @towlett
The too-wide legs just won't work, because when driven backward they can easily catch on the side and cause massive currents while the controller tries to push it harder and harder. Also, it looks like too little of the shaft is clamped on w/ the leg mount because of the leg width.
We need a working leg/mount combination for the test cart, along with a rubber grip that covers about half the length of the leg. The two of you need to get this done so that we can test walking routines on the test cart.