Otto Servo Calibration guide
Otto Servo
Calibration
guide
Robot Servo Calibration and Sweep with Arduino IDE, ideal for Otto DIY biped walks and tournaments
Check how to calibrate your servo motors, and learn how servos work, then we explore the sweep code and how to program easily using Arduino IDE.
The following video covers some of observations on the metal-geared servos used in Otto robots. I have written a short Blockly calibration program and an equivalent sketch which allows me to calibrate using microseconds.
I also show two non-blocking 'sweep' programs that will allow for slow servo motion or a full sweep.
Note: Note out that care needs to be taken writing microsecond timings to the servos outside of their 'limits'. These limits were well within the mechanical end-stop so did not put the servo under undue strain (you would hear it 'groan').
Do you
Buy Otto robots from our website: https://www.ottodiy.com/
Welcome to join our Otto Builder community! https://builders.ottodiy.com/
Check out why Otto is for all hobbyists: https://www.ottodiy.com/blog/robot-kits-adults-hobbyists
Credit to:
Piers Kennedy (https://www.youtube.com/channel/UCLK0cbHoVGyf9B3ChceEVMA)
really
need to
calibrate?
Align Servos Calibrate Servos
● Also called “Centering” or ● “to Increase accuracy”
“homing” ● It is made with software,
● It is in the hardware a “electronic calibration”
“mechanical alignment” ● Calibration is ONLY required for
● Most 180 degrees servo motors precise movements like "straight
have the rotation mechanically walk" or standing in one leg.
limited (is optional not required)
● Align the gears to 90 degrees ● In any case you MUST align
angle it is a requirement in Otto to servos as close as possible to the
be able to walk or dance properly. center before calibrating. (+- 6
● If Otto is falling is because of bad degrees)
alignment in the servos, re-
assemble again
Why is not walking straight?
If you have carefully followed the instructions on how to build Otto
and have made sure that all the servos are aligned(set at 90
degrees) before you attach the arms good job you have a functional
robot that you can use for dancing and interactions.
Otto will move ok but not perfect.
What happened?
Why Otto doesn’t walk straight and doesn’t move smoothly in certain
movements?
Otto needs
adjustments
Do not be disappointed and do not worry! This is completely normal
and happens in every Otto or robot built. This is the stage where you
need to adjust the central positions of the servos using a process
called “calibration”. This will only need to be done once per robot and
then the correct positions will be remembered every time you turn on
your Otto.
Download
the Servo
Calibration
App
How to proper calibrate Otto DIY robot servos with calibration software and blockly or arduino code
Proper Otto Calibration
If you have carefully followed the instructions on how to build Otto and have made sure that all the servos are center (set at 90 degrees) before you attach the white arms.
Then you are now at the very exciting moment where you check to see how Otto moves and dances and so you upload your first simple Blockly code.
:( What happened? Why did the legs and feet move out of position?
Otto doesn’t walk straight and doesn’t move smoothly.
Otto needs adjustments, do not be disappointed and do not worry! This is completely normal and happens in every Otto built. This is the stage where you need to adjust the central positions of the servos using a process called “calibration”. This will only need to be done once per robot and then the correct positions will be remembered every time you turn on your Otto.
Download the Servo Calibration App here https://www.ottodiy.com/software
Buy Otto robot kits from our online store https://store.ottodiy.com/
If you have problems ask for help in our Otto Builder community https://builders.ottodiy.com/
Install
Let’s
How to Calibrate Otto DIY robot servos? using Arduino Processing and simple Otto Blockly
We have made servo calibration simple!
Download the Calibration code and software here https://www.ottodiy.com/academy
You have carefully followed the instructions on how to build Otto and have made sure that all the servos are centralised (set at 90 degrees) before you attach the horns. You are now at the very exciting moment where you check to see how Otto moves and dances and so you upload your first simple Blockly code.
:( What happened? Why did the legs and feet move out of position? Otto doesn’t look right and doesn’t move smoothly.
Do not be disappointed and do not worry! This is completely normal and happens in every Otto build. This is the stage where you need to adjust the central positions of the servos using a simple process called calibration. This will only need to be done once and then the correct positions will be remembered every time you turn on your Otto.
To calibrate Otto, you will first need to upload this code to Otto. Once the uploading is complete, unplug the USB connection to Otto.
Servo Calibration GUI
You will now need to run the Servo Calibration software from ottodiy.com. Make sure that the USB is unplugged. Depending on your Windows platform, you will need to run either the 32- or 64- bit executable file contained in its relevant folder. Please leave the file in its folder - the program will not run if it does not have access to the data files.On start up you should see a red cross by the USB label at the top of the interface. Plug the USB into Otto and the red cross should turn into a green tick when the program has recognised that the USB connection has been made (this might take a second or two). If you forgot to unplug the USB, you will need to close the program, unplug the USB and start the program again. Then plug in the USB. You can now calibrate the servo positions so the the legs and feet are correctly aligned. The slider
allows for large changes in the angle and the +/- buttons much finer control on the position of each servo.
When the servos on Otto are correctly aligned, click on 'Walk Test' to see how Otto moves. If further fine adjustments are required, they should be done now and the walk test repeated. Be careful that the USB cable does not interfere with Otto's movement.
When you are happy that everything is aligned, click 'Save'. A tick and properly aligned Otto will appear on the interface. Your Otto will produce a happy sound (if you have connected the buzzer) and dance.
CONGRATULATIONS!! You have successfully calibrated Otto's servos. The positions have been saved to Otto and will not need to be calibrated again unless you change the Nano or any of the servos.
Welcome to join our Otto Builder community! https://builders.ottodiy.com/
do a
Perfect
walk
Proper Otto
Calibration
1. Click the open icon and
select the example file
included in the folder, make
sure your robot is connected
to the usb and then click
upload.
Servo Calibration
2. After successfully upload
Unplug the USB connection.
3. Unzip and Run the app file
according to your OS
contained in its relevant
folder.
Leave the file in its folder -
the program will not run if it
does not have access to the
data files.
Servo Calibration
4. Plug the USB again into Otto
and the red cross should turn
into a green tick when the
program has recognised that
the USB connection has been
made.
If you forgot to unplug the USB,
you will need to close the
program, unplug the USB and
start the program again.
Servo Calibration
5. Now calibrate the servo
positions so the the legs and
feet are correctly aligned in the
robot on your table.
The slider allows for large
changes in the angle and the +
and - buttons much finer
control on the position of each
servo.
Servo Calibration
6. When the servos on Otto are
correctly aligned, click on 'Walk
Test' to see how Otto moves.
If further fine adjustments are
required, they should be done
now and the walk test repeated.
Be careful that the USB cable
does not interfere with Otto's
movement and do not
disconnect.
Servo Calibration
7. Once you are happy with the
calibration, click 'Save'.
A tick and properly aligned Otto
will appear on the interface.
Your Otto will produce a happy
sound (if you have connected
the buzzer) and a short dance.
Now you can disconnect and
let Otto run freely calibrated.
CONGRATULATIONS!
You have successfully calibrated Otto's servos. The positions
have been saved to Otto and will not need to be calibrated
again unless you change the Nano or any of the servos.
Did you have problems?
ask in our community
builders.ottodiy.com
builders.ottodiy.com
