Hi All,
I was playing with the LSS to see if I could stop the motion using current sensing. I just gathered a few values before I could stop the motion using current sensing.
Current Sensing.
First tried incrementing the servos in smaller (100) and larger steps(400) to see how much current it draws. I was using a modified version of my Query code. I also wanted to check how accurate the position value is feedback.
the blue trace(value) is the commanded position whereas the orange(pos) is the value read back.
Increment by 100
Positional feedback accuracy
Current sensing
Looks like the current is fairly same except when there is direction of motion change.
Increment by 400
Positional feedback accuracy
Current sensing
In both instances the position value lags by one step. The error increases as the increment size increases. May be this can be made more accurate but I am reading immediately after commanding the servo. The baud rate is 115200. Should I increase it ?
Then I thought of adding a cardboard arm and checking how can I get the motor to stop based on current sensing. Did some modifications to my sketch and I could see that. Apologies for my makeshift leg and the mess. I have no brackets at the moment.
Applied a threshold of 200mA…When the arm presses against the table I hold the servo tightly in place so it does not move. and the servo soon stops its motion
I really liked the voltage monitoring on the servo as it is very useful thing to not have an additional hardware/software to monitor battery voltage.