1551's encoder-controlled arm

[Nadav Zingerman]

Originally Posted by WizenedEE

The title says encoders.

We're using three accelerometers (one on each part of the arm and one on the chassis) to control ours. I'm still planning for the last minute switch to potentiometers though

Did you use the jaguars' built in PID with the encoders? I'm going to try doing that for our wrist action, and I'm looking for some tips.

You should do that right now. Accelerometers are terrible for this. You would have to integrate them twice, increasing the noise by more than a factor of two. The noise is quite bad already, and you will probably have a long cable run from the wrist to the controller, probably running next to some electrically noisy motors. If your accelerometer is analog (it probably is), this would make it impossible to use for this task. Even if it's digital, I doubt it can work at all.

Switch to encoders or potentiometers as soon as possible.