Default position for motors
- Mazen Mohsen
Each joint in pib requires assembly at a specific degree so it can be reset to this degree as a default on startup. Additionally, this default is set in order to allow the joint to reach the maximum revolute joint limit on 180deg range servo motor.
Joint | Default position | Minimum angle limit | Maximum angle limit |
|---|---|---|---|
"turn_head_motor" | 0 | -90 | 90 |
"tilt_forward_motor" | 0 | -25 | 90 |
"upper_arm_left_rotation" | 0 | -90 | 90 |
"elbow_left" | -45 | -45 | 90 |
"lower_arm_left_rotation" | 0 | -90 | 90 |
"shoulder_vertical_left" | 0 | 0 | 90 |
"shoulder_horizontal_left" | 0 | 0 | 90 |
"upper_arm_right_rotation" | 0 | -90 | 90 |
"elbow_right" | -45 | -45 | 90 |
"lower_arm_right_rotation" | 0 | -90 | 90 |
"shoulder_vertical_right" | 0 | 0 | 90 |
"shoulder_horizontal_right" | 0 | 0 | 90 |
"thumb_right_opposition" | -90 | -90 | 90 |
"thumb_right_stretch" | -90 | -90 | 90 |
"index_right_stretch" | -90 | -90 | 90 |
"middle_right_stretch" | -90 | -90 | 90 |
"ring_right_stretch" | -90 | -90 | 90 |
"pinky_right_stretch" | -90 | -90 | 90 |
"thumb_left_opposition" | -90 | -90 | 90 |
"thumb_left_stretch" | -90 | -90 | 90 |
"index_left_stretch" | -90 | -90 | 90 |
"middle_left_stretch" | -90 | -90 | 90 |
"ring_left_stretch" | -90 | -90 | 90 |
"pinky_left_stretch" | -90 | -90 | 90 |
"wrist_left" | 0 | -90 | 90 |
"wrist_right" | 0 | -90 | 90 |