Can someone confirm my understanding please…
The Pulse Offset stores a value between 100uS and -100uS.
If I stored a value of say 50 in a channel then when I send a value of 1500 would this be combined with pulse offset to become 1550 as the actual position set?
Yes that is exactly right. The other way to think of it is, if you need to position the servo to 1550uS to make it centered, then you enter the PO value of 50uS. Then from that point on sending 1500uS will center the servo. Some tips on using PO. Only send it one time! Sending the PO value more than one time can mess it up. If the SSC-32 get’s reset it will loose the PO you sent it. Hope this helps!
Thats exactly what I thought it would be. For minor adjustments its excellent but I have a problem when it comes to the arms of my bot.
The 1500 position puts the arms out at right angles to the body. 700 puts the arms at the bots side. The offset is too great to store in the PO value so looks like I will have to maintain a software offset as well for certain joints.
I’m missing something here. The PO is required if you want your sequences, or code to be portable to other robots, or if you want the ability to pass positions from one side of symmetrical robot to the other. However if you don’t care about this you don’t need to use the PO. I don’t understand why you would need to maintain software offsets?
Sorry, my fault, not enough information…
I am using gyro’s to correct balance. As the gyros detect an imbalance they will put values into the offset that will be ‘mixed’ with the values sent by SEQ.
Ahhh, ok. Yes you will need to support your own software offsets for this. It’s probably better this way as you can easily set the limits too.
Im hoping that I will be able to define a standard move that SEQ can play and allow the gyros to just manipulate the Offsets. Save me having to re-write my own version of SEQ
That’s a neat idea. Let us know how it works out.
