Default position for motors
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 | Calibration position | Minimum angle limit | Maximum angle limit |
|---|---|---|---|---|
turn_head_motor | 0 | 0 | -90 | 90 |
tilt_forward_motor | 0 | 0 | -25 | 90 |
upper_arm_left_rotation | 0 | 0 | -90 | 90 |
elbow_left | -45 | 5500 | -45 | 90 |
lower_arm_left_rotation | 0 | 0 | -90 | 90 |
shoulder_vertical_left | 0 | 0 | 0 | 90 |
shoulder_horizontal_left | 0 | 0 | 0 | 90 |
upper_arm_right_rotation | 0 | 0 | -90 | 90 |
elbow_right | -45 | 5500 | -45 | 90 |
lower_arm_right_rotation | 0 | 0 | -90 | 90 |
shoulder_vertical_right | 0 | 0 | 0 | 90 |
shoulder_horizontal_right | 0 | 0 | 0 | 90 |
thumb_right_opposition | -90 | -9000 | -90 | 90 |
thumb_right_stretch | -90 | -9000 | -90 | 90 |
index_right_stretch | -90 | -9000 | -90 | 90 |
middle_right_stretch | -90 | -9000 | -90 | 90 |
ring_right_stretch | -90 | -9000 | -90 | 90 |
pinky_right_stretch | -90 | -9000 | -90 | 90 |
thumb_left_opposition | -90 | -9000 | -90 | 90 |
thumb_left_stretch | -90 | -9000 | -90 | 90 |
index_left_stretch | -90 | -9000 | -90 | 90 |
middle_left_stretch | -90 | -9000 | -90 | 90 |
ring_left_stretch | -90 | -9000 | -90 | 90 |
pinky_left_stretch | -90 | -9000 | -90 | 90 |
wrist_left | 0 | 0 | -90 | 90 |
wrist_right | 0 | 0 | -90 | 90 |