Small Robot dog (quadruped)

Disclaimer

This project has been done mostly for fun about a year ago. Some libraries have been updated, so it basically does not work any more. Not every planned feature was released. No PCB is made and it creates a lot of trouble for most of you. I'm sorry to say, but I'm not going to provide any support for it any more. It's exhausting and sometimes just destroys any intentions to continue. This is not comercial project and I'm not going to do something like Donation. Maybe I'm disappointing someone. Sorry. Project closed.

Hardware

• ESP32
• IMU (not implemented)
• 12 servos TowerPro mg90d
• Two 18650

Software

• Arduino IDE compatible

TODO

• use power sensor and IMU

How to

Calibrate servos (create servoMainProfile)

• Print servo_calib tool and install servo into it: circle plate with dots, 10deg each from 0 to 180.
• use tools/servoCalib.ino and connect servo to 14 pin
• open Arduino IDE terminal and input 1500 (and press Enter) - this should be servo middle and it should point to the middle dot of printed tool
• decrease value to find minAngle and degMin values for it (start with 800 and decrease it until servo stop move, than return back one step, e.g. set 790 - servo moved, 780 - servo moved, 760 - servo don't move, use 780)
• do the same to find maxAngle and degMax but make value and start from 2100 and increase values
• great, now we know our servo limits (or at least what are the limits for lib+servo), time to find more accurate servo positions
• input values until you will not find proper positions for deg30, deg50...deg130, deg150

Legs

Assembling

• to assembly legs correctly print leg_calib tool/template one as it is and one mirrored for the other side of robot for Beta and Gamma angles, as also Alpha angle tool
• power up servo and connect ESP32 to you computer, open Arduino IDE terminal
• input set servo_to_calib to set all servo to position expected for printer tool
• assemble legs as closer as possible to expected leg parts positions according to the tool (90deg, 45deg, 90deg)

Calibration

• repeat steps 2,3 of Legs->Assembling instruction
• input set help to see the list of available commands, we are interested in XX_HAL_trim_xxxx, e.g. LF_HAL_trim_alpha, where LF - left front leg, and alpha is the angle name
• put Alpha leg tool on top of the robot legs servo, surface of tool should be (near)perfectly align with servos body, if not, use XX_HAL_trim_alpha value_in_deg command to set servo trim value, e.g. set LF_HAL_trim_alpha -3, it should not be too big, in other cases you need to repeat Assemble step
• using tool for Beta and Gamma angles, calibrate/trim other servos