Week of 4/27 - 5/1
- Apr 30
- 2 min read
I started off this week by making half of the foot and cap molds, and they came out really well, actually. I had extra silicone when I poured them into the molds. So I decided to try to put the molds themselves into the silicone so that they would always have an excess of silicone and could remove air bubbles from it. And this seemed to work because there are no noticeable air bubbles besides very small ones, but I don't think those will matter in the grand scheme of things. So next week I'll probably continue doing this, or today.
I then started by working on getting the inverse kinematics into my code. I had this from a while ago, but since I switched how I was controlling the motors, I basically had to redo it all. I also polished it up a lot more since it was really basic before, and there were still a bunch of errors that I had to correct.
I started by making bounds for the motors so that they couldn't go too far, since if they go too far, then too many amps go through the motor, and it could definitely fry it or cause some damage to it. So I want to avoid that, since if this happens continuously, it could destroy one or more of my motors. And I want this to keep working for a while, so I had to measure out how far each motor could go and then record that data so I could use it for clamping the values to certain values.
It took some time, but eventually I got this working, and I was able to type in any coordinates I wanted, and it could go to those. It also wouldn't go past the certain bounds that I made, so hopefully it will stop the motors from getting worn down over time and won't break.
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