Programming Manual Elektor Proton Robot - ELEKTOR.se

Activating the servo’sWriting a value in index 0 will activate the servo’s. 0 = all servo’s off / 1 = only servo’s of head areactive / 2 = only servo’s of gripper are active / 3 = all 4 servo’s are activePositioning the servo’sWriting a value to Index 1-4 will determine the position of each individual servo. This can be a valuebetween 0-255.The servo will move as fast as possible to the new position – and will keep the servo fixed in thisposition.TIP: If you want to slow down the movement of the servo’s – then you can do this by writing newincremented position values to the servo controller - with delay’s in between. This will result in quiteheavy I2C traffic – but that is no problem.OffsetA servo in position 128 should take the centre position. If this is not exactly so – then you couldchange the offset value for this specific servo so that it will position in the centre position.Vibrating headWhen the head moves quite fast to a new position – in some cases the head starts vibrating. Thereason for this is the electronic circuit in the servo – that always will try to keep the servo in thedesired position - and the quite heavy load of the head on the servo.The internal position measuring unit measures thatthe head has moved a bit over the desired position.The internal electronic circuit of the servo wants tocompensate this error and moves the servo back .Now again – the servo – due to its heavy load of thehead – moves a bit over the desired positionThe internal electronic circuit of the servo wants tocompensate this error and moves the servo back.Bart Huyskens Manual Elektor Proton V1.0 3 April 2011 60