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jesseweisberg / moveo_ros

ROS packages and Arduino scripts that can be used to control the BCN3D Moveo robotic arm in simulation and real-life.
MIT License
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Wiring #8

Closed alexanderwatanabe closed 6 years ago

alexanderwatanabe commented 6 years ago

Hello! First off I love your project. I'm just about finished with my Moveo (trouble sourcing nema14's where I live, may redesign last 2 axis's for nema17) but I have the first 4 axis's up and running using pronterface.

What's not clear to me from looking at your arduino sketch as well as the wiring diagram here ( https://github.com/jesseweisberg/moveo_ros/blob/master/aerial_robot_sketch.png ) is how the dual steppers on joint 2 are accounted for. Am I supposed to wire up a transistor on the DIR logic pin so that when one stepper driver gets a HIGH signal, the other is low? Or do we slave another axis with inverted logic? Or something else?

Thanks,

Alexander

alexanderwatanabe commented 6 years ago

Just to clarify - I do see that in the diagram the X axis on the ramps 1.4 seems to be split to two steppers - I guess you are wiring them up on the stepper side of the driver to rotate in opposite directions?

jesseweisberg commented 6 years ago

Hi Alexander– thanks for pointing this out, because I forgot to mention what I did there. I did exactly what you mentioned in the second comment. On one of the Joint 2 motors I flipped the B+ and B- terminals on the TB6560, and if you set it up the same way I did, that should solve your problem.