A lot of this week was mainly me working on my code to get my leg working. This took me Monday through Wednesday, so that's primarily what I was focusing on, but I got a lot of work done those days. I wanted to make it so that when it moves to a certain position, it would move smoothly rather than just moving the motors once, but rather taking multiple steps in order to do so. And this would also reduce servo overshoot if it goes too far. The way I solved this was by using co

This week, I got a lot done on my leg design, as well as assembling and testing my leg. Firstly, I wanted to redesign a couple of parts since I didn't really like how I made them before. So I spent some time redesigning my foot part of the leg so that the holes were more evenly spaced and there wasn't any weird geometry going on. I also had to change a couple of sizes to make the motor fit better, and I removed one part that made it so the wire wouldn't fit. When I printed it

This week, I got a ton of work done on my design. Firstly, I worked on the foot design, which is the last part of the leg. I wanted to make it lightweight since it's the longest piece I have, so I made holes along it. I also added in a spot for screws at the bottom, since I am connecting both halves with pins, but they are not foolproof, and the pieces can still fall apart, so I wanted the extra reinforcement. I went through a couple of different designs, but I ended up with