rx-00 / monopod

WIP 2D monopod

monopod

WIP 2D monopod

SETUP VENV:

1. If on a new platform w/o monopod/env then: python3 -m venv /path/to/new/virtual/environment
2. don't forget to 'source monopod/env/bin/activate'
3. then in the (env) pip3 install -e monopod
4. don't forget to use setup.py w/ 'pip3 install .'

NOTE:

• if the knee motor is not working despite no changes in hw and sw then do:
  1. complete power cycle
  2. run the move knee script
  3. retry
• velocity command should be 0.0 if not specified, NOT math.nan!!

TODO:

• test out lcm py and cpp
  • create a make file for lcm
• maybe as the project evolves, use catkin to manage and build the project
• ADD AN ENCODER TO KNEE AND USE NEW FIRMWARE FEATURE ON MOTEUS CONTROLLER FOR REDUCTION UP GEAR RATIO
• set servo.position_min/max for moteus on lower level using command line tools or python diagnostic stream

BOM leg:

• moteus controller + test aluminium mount
• moteus brushless motor
• pi3hat for pi4 from mjbots
• pwr dist board r4.4 from mjbots
• TOPPROS 120XL SeriesWidth 3/8" 60 Teeth
• M3, M5 countersunk screws
• uxcell 6902-2RS Deep Groove Ball Bearing 15x28x7mm Double Sealed ABEC-3 Bearings

BOM testing rig:

• 2020 aluminium extrusion (100mm, 500mm)
• 2020 aluminium extrusion connectors, L brackets, screws, extension connectors, etc.
• 2020 linear ball bearing slider