BRAT Walking Sequence

Lynxmotion Legged Robots
1

Hello,
How does the degrees command relate to servo pulse ?

For example:

; Walk Forward gosub movement 7.0,-20.0,-20.0, -7.0, 20.0, 20.0, 500.0] gosub movement -7.0,-20.0,-20.0, 7.0, 20.0, 20.0, 500.0] gosub movement -7.0, 20.0, 20.0, 7.0,-20.0,-20.0, 500.0] gosub movement 7.0, 20.0, 20.0, -7.0,-20.0,-20.0, 500.0]

How does the 20.0 relate to servo pulse in uS ?

Steps per degree is 166.6 for that code - I’m assuming that means that for the servo to turn 90 degrees you would have to send the respective pulse 90*166.6 times

Thanks,
Eric

2

Hello!

I was asking myself sort of the same question.

Take a look at this thread:

lynxmotion.net/phpbb/viewtopic.php?t=3889

Hope it can shed some light! :smiley: