I’ve built Hexy and centered the servos during assembly (as documented). For a couple of the servos, it wasn’t possible to make the leg completely straight. It seems like the “servo horns” have little teeth inside that the servo gear slots into - and they weren’t lined up to allow the leg to be completely straight (maybe 10 degrees off?). Now when I use PoMoCo, some legs don’t touch the ground when Hexy is standing up.
Is there any way to correct this problem? If push comes to shove, I’m thinking that I could modify PoMoCo to have a set of memorized offsets that it applies to each joint before moving - it would restrict the range of motion a bit, but not too bad.
Yup, this is exactly what the servo offsets in the PoMoCo software are for:
github.com/ArcBotics/Hexy/wiki/PoMoCo
You can even save the offsets file, and its in the same directory as PoMoCo.py, it will automatically load it each time on startup