Requested
Smoothing Motions
Completed
Get ARC Pro
@DJ, I recently saw this video by James. He shows how he adds a couple of lines of adruino code to smooth out positions for servos. You can see his solution starting at about 5:00 in the video. Not sure if this is something that could easily be added to ARC? Its something we have talked about for years.
This conversation was about hobby-style PWM servos supporting acceleration. While there's already support for acceleration with smart servos (i.e., dynamixel and feetech), a new robot skill supports acceleration with PWM.
Here is the robot skill that supports acceleration with PWM hobby servos: https://synthiam.com/Support/Skills/Servo/Maestro-Servo-Controller?id=21056
Nice, it always makes me chuckle when you question if it is worthwhile to add a new feature and then you add it anyway
Hahaha - well, it was added for a different reason. The Maestro from Polulululululu was on our partner request robot skill list. I was sitting watching a movie and saw the list and figured that this would be an easy skill to whip out. It turns out it uses PWM servos and has an Acceleration parameter. That's when I had a hazy memory of someone asking about that. So I looked on the feature request page and found this.
So by doing the polulululululu Maestro servo controller, I got two birds stoned with one robot skill.
Oh, I did order a PCA9685 expander as well. So I'd like to eventually try that solution with the Arduino library mentioned above. It can convert a regular Arduino into a servo controller with acceleration and velocity... I think... if it works. But it's open-source, so my expectations are low.