Create arm motor controller class

r2labs / QuARC

Qualcomm Articulated Robot Control

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Create arm motor controller class #2

Open EricCrosson opened 9 years ago

EricCrosson commented 9 years ago

Parameters:

ranges min pwm
ranges max pwm
pwm output pin(s)

Functions:

move to angle(angle)

determine pwm output to accomplish movement to desired angle

Not sure if necessary:

linear interpolation

stormymauldin commented 9 years ago

I'm pretty sure most of our servos have a range of 2π radians. I'm not sure if this has been decided yet, but are we using a 0 to 2π range or a +/- π range?

EricCrosson commented 9 years ago

From the docs, we are given a min angle and a max angle I think our IK library will work with angles, so we need to ensure we can dump an angle into this library to start the desired movement. Absolute angles is the answer, I think those are normally mapped from 0 to 2 pi. I don't believe we can hit the entire range though.