Devlog 3: The arm has been prototype

Hello again guys and today we have another devlog. Sorry it’s been a while since my last devlog but I have a lot of exciting stuff to show.

First, I have finally figured out inverse kinematics!

Law of cosines was a bit annoying to learn and to apply considering my method is finnicky but I managed to get all my servos to move into position based on real time, and my turntable also works!

Problem 1: Power Draw

I severely underanticipated the amount of power this would draw, and my psu can provide 9v1a stepped down to 5v wheras my arm needs over 5v6.5a. In order to solve this, I will get a PD trigger board which I will hook up to a PCA9865 module in order to power this. I also learned a ton about SDA and SCL signalling, which I thought was like CAN but I was completely wrong

Second, we have a basic code!

Although we still do not have a webend for me to run machine learning on this, I am able to manipulate all my servos.

Third, I am working on objects to pick up.

One of the problem with the power draw is that my servos will jitter and release certain items. In order to circumvent this I will design an object and claw similar to Samples in the FTC game Into The Deep for 2024-25. This way I have something to dig into

What’s next?

Next up I have to work on a webend that way I do not have to constantly be plugged into my ESP-32
I have to wire up my PCA9865 (the SCL SDA will save me so so many wires)
And lastly implement machine learning! Adios my friends!