I'm also building a Spot like yours. These videos are encouraging me to continue with the project :) One question, when you talk about calibration how do you manually set every servo to 0? thanks
That's good to hear! Building a robot is a great experience. If you haven't seen it, I have a video on how to zero servos: ru-vid.com/video/%D0%B2%D0%B8%D0%B4%D0%B5%D0%BE-mwpIMD-3udw.html In short, you pick an angle, like 90 deg. You then command the servo to that angle before mounting the servo horn. After the robot is assembled, you can further zero it in software by manually adjusting an offset from the zero position until it is perfect. I hope that helps.
@@AdvancedHobbyLab That is how I did it when I built spot a couple of months ago, I wasn't sure if you where doing it any other way, so I asked. Thanks for the link :)
The offsets are going to be unique for each SpotMicro build. I included a script (github.com/AdvancedHobbyLab/SpotMicro/blob/main/src/offset.py) to help identify the offsets for the config.csv file.
Very nice job! I appreciate the amount of work that went in to achieving that rapid gait. I was working on a SpotMicro robot too. I kind of stalled on the project, but you can see the creep gait that I achieved here: ru-vid.commh5To0IZhyk
