I switched the base servo to a cont. rotation servo and it is very twitchy and doesn’t respond well to the ps2 controller. Is there some part of the code I can change to make it behave better?
Also, the whole bot doesn’t move very smoothly. It moves very slowly without me pressing buttons and then is spastic when I tell it to move. I’m using only the Botboard II
Which continuous rotation servo are you using? We would suggest only the 1425CR from Hitec. Note that the center (zero speed) position may not be exactly at 1500us. Also, the 1425CR is not a very powerful servo, so there is a chance that the weight of the arm hanging off is causing issues.
Also, I could be wrong, but most Continuous Rotation servos I have seen, you can not control the actual position of the servo. You only can control which direction it turns and to some extent how fast it moves. There are exceptions, like the Dynamixel servos, but they would not fit here. There may be others, that have contact less encoders, like I know Orion Robotics was working on one, but don’t think it was released yet.
Why did you switch to a continuous rotation servo? As kurte mentioned in his post, control of a continuous rotation servo is limited. For the rotating base, my thoughts are that a regular servo is used with gearing to go from 180[super]o[/super] degrees to full rotation.