Hi.
i am just making my grad project on L6 robot arm.
i am just going to control the servo motors by just feeding them with angles converted in to pulses, but my angles are very small an occurate.
i hv 2 questions here:
1)when giving angles, do i have to give the difference between the previous and the current angles as pulses, or give the new one as it is
ex:
theta1 theta2 theta3 theta4
-10.3727 21.7555 -21.7555 90.0000
convert them to pulses then feed them with the servo mottor.
next i hv ths angles:
-0.0126 0.0149 -0.0149 -0.1018
when converted to pulses,do i give the difference betwen the current pulses and the previous ones or just take the current?.
2) how do i represent the **negetive angles **in servo pulses?
3)when i convert angles to pulses , the result is very small and close to the previous pulses because my angles are very small and close to each other, how do i overcome ths problem?
N.B:i am using basic stamp as development environment.
thank you.