Got around to screwing with the robot arm kit on the Romi. Pretty fun! The code I have can be found here (largely based on ZQ and R^2): GitHub - Pearadox/Romi
One of the things I’m struggling with though is the servos are very twitchy. I started down a path of trying to look at some wpilib documentation for servo deadbands (the setbounds function) or something else, but no luck. It’d also be great if I could figure out how to print out the pulse width it’s currently at so I can try to set it up to match the Romi documentation. Anyone have suggestions for making the servos less twitchy? I suspect it’s just from trying to maintain a setpoint from the weight of the arm pulling it down and overcorrecting, but it seems like there should be a decent way of managing that? I’ve also tried disconnecting the gripper and wrist servos to see if it was just noise, and had the arm in the full down position so that it didn’t have extraneous force on it (the servo horn was facing straight up) and it still is twitchy.
It also seems that there’s not a good way to set what the default servo set point is when the robot is disabled, or at least from my reading of the documentation. That’s definitely workable, so not a huge deal - but want to make sure I’m not missing anything there either.
Some pictures of the set up just cause: