I have to admit I have not tried the AutoPosition control. It's still a bit of a mystery to me but I plan on diving into it in a few days. I've been focused on building a 7 pound arm with 4 joints for my B9 Lost in Space robot. I've now got it working smoothly; twisting and turning and lifting the weight.
The first "elbow joint" lifts all the weight and only moves in the up and down direction. It's powered by a DC motor, feedback is a potentiometer and is controlled by a Sabertooth/Kangaroo with serial commands being sent through V4 EZB's Uart port.
The Second and third joints; The "wrist up and down joint" is powered by a servo City servo powered Gearbox. It's lifting the 3 pound claw section. The Gearbox is then directly attached to a standard servo for the horizontal wrist movement.
The last and 4th joint is the Claw "open and close" joint. This is powered by a mini servo.
So far I've just been writing crude test movement scripts with servo position and speed commands for the servos and serial Uart commands to the Kangaroo for the DC motor.
I'm wondering if I can include the serial Uart commands to the Kangaroo in the AutoPosition control to get the whole arm to move as one. I fear I'll have to build the frames in the AutoPosition for the servos and the elbow's dc motor serial movement commands in a separate script. *confused*
Thanks in advance for any insight into this! I'm looking forward to this challenge. Hopefully with a little help I can have this arm moving around like a snake very soon.