[code]main:
hservo [cLFFemurPin\upperFemurPos\150,cLFTibiaPin\upperTibiaPos\150]
repeat
pause 20
until HSERVOIDLE(cLFFemurPin) AND HSERVOIDLE(cLFTibiaPin)
Pause 3000
hservo [cLFFemurPin\lowerFemurPos\150,cLFTibiaPin\lowerTibiaPos\150]
repeat
pause 20
until HSERVOIDLE(cLFFemurPin) AND HSERVOIDLE(cLFTibiaPin)
Pause 3000
goto Main
Handle_WKP5:
disable WKPINT_5 ; only interrupt once per leg…
_bWhichWKP = 5
hservo [cLFFemurPin\hservopos(cLFFemurPin)]
hservo [cLFTibiaPin\hservopos(cLFTibiaPin)]
hserout HSP_DEBUG, "Foot down: ", sdec _bWhichWKP, " at Femur: ", sdec hservopos(cLFFemurPin), " Tibia: ", sdec hservopos(cLFTibiaPin) ,13 ]
Enable WKPINT_5
resume[/code]
I dont notice any problem at all in the needed up/down-motion upto 45 deg, and the “rubberhat” works very nice
I did cut the switchleveler alitte short, bot it dont seem to matter for the function
(I didnt find the rubberhat at first, it was the cat who had taken it from my desk and was playing whitht it in the corridor )
I have some experience with such struts from my days as an RC pilot.
one of the problems that i encountered when trying to design and use a strut like yours was a very high mechanical wear and tear of the aluminum parts rubbing against each other.
a solution for that was to use a different metal for one of the parts in order to reduce the friction factor (aluminum - aluminum friction factor is very high).
If its possible, you can produce the smaller (feet) part out of brass that will have a very low friction factor with the aluminum.
furthermore, you can use a silicone based lubrication paste to reduce the friction.
not giving a though to this matter, you will end up finding yourself trying to tighten the bolts attempting to reduce the gaps generated by the friction.
Nice, I was jut thinking of redoing the feet, to minimize the slack against the tube … brass is a good idea, and some kind of greeze is a must
I dont think it is at all the same quallity of the Alu in the tubing as in the foot, but as you say, it is better whith brass
)