New to playing with the Maestro and this particular type of coding. Using a 12 channel maestro on a robot with servos in hands, arms, and 3 body gears. I am attempting to make various movement sequences like dancing, general movement all with different speeds. Using gobilda torque servos
This is 2 basic movements , very robotic and slow. I know playing with the speed and acceleration helps make the movements smoother, but not sure how to get that into the code successfully to change movement between servos in a frame. The channel speed/acceleration setting seems to apply to all frames/sequences and while acceleration makes it faster, it is jerky. I was playing with the get_while_moving script with some success getting them to move quickly and smoothly , but not sure how to translate that into the script i already have? or if there a better way of going about it ? if you can assign different channel settings to sequences etc. I appreciate any feedback or example of code to play with.
To set certain speed and acceleration values for each movement, you will need to manually modify your script by adding SPEED and ACCELERATION commands as needed.
It looks like your sequences are quite long, so to keep it short and simple, I will use the sequence below as an example:
Let’s say we wanted to change the speed and acceleration of servo 0 to 10 and 5 respectively for the first movement (Frame 1) then to 20 and 50 for the second movement (Frame 2). We can insert the SPEED and ACCELERATION commands on the line before each frame, like this:
# Sequence 0
sub Sequence_0
10 0 speed #set the speed of channel 0 to 10
5 0 acceleration #set the acceleration of channel 0 to 5
500 3968 8000 0 0 0 0 frame_0..23 # Frame 1
20 0 speed #set the speed of channel 0 to 20
50 0 acceleration #set the acceleration of channel 0 to 50
500 8000 3968 frame_0_1 # Frame 2
return
Please note that when you set a speed or acceleration, it will persist for all subsequent movements until it is changed again or the Maestro is reset.
