[JBotAlan]

I wrote a two-shot arm control module--if the arm's potentiometer value is more than a certain amount, it will send full speed out to that joint, otherwise, it will send a slower value until it is within a "deadband". Unfortunately, I didn't get as much testing in as I wanted to because the gear that meshes with the worm-tooth kept losing teeth and the robot dentist got more and more agitated as the night went on...I nicknamed our 'bot "gear muncher" because I broke 3 gears yesterday and 2 the day before. Little brass teeth are littering the floor. Not Good. We have some hardened steel gears coming, though.

I also have an EEPROM solution in place--you move the arm to where you want it, then hold a button combo on the handheld and the robot saves that position to the EEPROM and will recall it when that button is pressed.

Of course, our code still isn't done. It's...functional...which is an improvement over last year.

JBot