Calibration guide

Calibration of the the robot after assembly

In the include folder situated in the Arduino code, there is an array named compensationArrayMec in qd_hw_config.h to add small compensations to every joints and calibrate the initial position.

How to calibrate the initial positon (mechanical compensations) :

• Send the code to the Arduino as it is (this line should be in the setup moveMotor(initPositions);)
• The robot should be in his initial position but with slight offsets (Hip and Tibia parallel to the body | Femur perpendicular to the body)
• Play with the values in compensationArrayMec to get rid of the offsets and get a straight initial position

Pt ajouter les sens de rotation