From 1f2cab6bcee79c16f9d3a9c693d0207d030d6b27 Mon Sep 17 00:00:00 2001 From: Leonetienne Date: Tue, 10 Feb 2026 23:18:21 +0100 Subject: [PATCH] tweak arm servo values --- MotionCore/Arm.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/MotionCore/Arm.cpp b/MotionCore/Arm.cpp index dbd7f87..9750920 100755 --- a/MotionCore/Arm.cpp +++ b/MotionCore/Arm.cpp @@ -7,13 +7,13 @@ Arm::Arm(const std::wstring& comPort) noexcept: oSerialBus(comPort), joints{ - // bus axis ref len idx min max home parent + // bus axis ref len idx min max home parent ArmSegment(oSerialBus, Vector3d::Y, Vector3d::Forward, 0.0, 0, -135.0, 45.0, 0.0, nullptr), ArmSegment(oSerialBus, -Vector3d::X, Vector3d::Up, 72.0, 1, -38.0, 85.0, 0.0, nullptr), - ArmSegment(oSerialBus, -Vector3d::X, Vector3d::Up, 97.0, 2, -90.0, 90.0, 0.0, nullptr), - ArmSegment(oSerialBus, Vector3d::X, Vector3d::Up, 114.0, 3, -90.0, 90.0, 90.0, nullptr), - ArmSegment(oSerialBus, Vector3d::Y, Vector3d::Forward, 0.0, 4, -90.0, 90.0, 90.0, nullptr), - ArmSegment(oSerialBus, -Vector3d::X, Vector3d::Up, 56.0, 5, -90.0, 90.0, 90.0, nullptr) + ArmSegment(oSerialBus, -Vector3d::X, Vector3d::Up, 97.0, 2, -86.0, 89.0, 0.0, nullptr), + ArmSegment(oSerialBus, Vector3d::X, Vector3d::Up, 114.0, 3, -85.0, 87.0, 00.0, nullptr), + ArmSegment(oSerialBus, Vector3d::Y, Vector3d::Forward, 0.0, 4, -85.0, 87.0, 00.0, nullptr), + ArmSegment(oSerialBus, -Vector3d::X, Vector3d::Up, 56.0, 5, -85.0, 87.0, 0.0, nullptr) } { if (!oSerialBus.isOpen()) {