Hi everyone, I am currently hands on an Hexapod, based on the same eBay kit as some other members, servos MG996R and then I want to control it via Arduino Mega 2560, in the meantime my tests are being done with Uno R3.
At the very end, I want to do some AI stuff thanks to ROS being executed in a Raspberry Pi also contained in the Hexapod.
But I am far from there...at the moment, I cannot even add a third servo because as soon as I do it, all three start to behave randomly, if not at first, then after a couple positioning orders (I programmed a very basic parser and control code in Arduino with the Servo library).
In the pictures at the bottom you can see the test environment. An inexpensive regulated (5-15V, up to 15A) power supply, connecting to the breadbord where the servos are connected through cables that I don't know if they are too long and causing the high frequency parasites and therefore jittering.
At the moment I am using this advice: https://www.robotshop.com/letsmakerobots/node/12679#null
That is, 100nF ceramic multilayer cap at the servo signal header (in the breadboard), 100uF electrolitic at the Vcc servo to Gnd header, protoboard, and some electrolitics 220uF and 100uF in parallel close to the power connectors summing up to 960uF
But no success at all.
I wonder if someone had the same problems, and if anycustom PCB with caps solved the problem. I wonder if I could replicate that scheme that I observed in some of the great hexapods that Bajdi and Duane are/have been doing, in an arduino protoshield connected then to the Mega.
Maybe I am having so much noise and jittering because of the so many cables of the test environment? Maybe it could be solved soldering caps inside the servos instead of the protoboard? But this one looks like a radical solution that you might have solved with just one custom PCB with the correct caps, or maybe even the caps are not necessary.
Or maybe my hexapod is condemned because the servos are actually screwed up, becuase I checked them all and some of them seem to have been hacked to be continuous rotation servos (whilst others are really tight and others are normal and just stop at an acceptable angle pattern, that i, similar to the datasheet).
