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tweak arm servo values

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Leonetienne
2026-02-10 23:18:21 +01:00
parent ab80d99478
commit 1f2cab6bce
1 changed files with 5 additions and 5 deletions
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MotionCore/Arm.cpp
+5 -5
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@@ -7,13 +7,13 @@
Arm::Arm(const std::wstring& comPort) noexcept: Arm::Arm(const std::wstring& comPort) noexcept:
oSerialBus(comPort), oSerialBus(comPort),
joints{ 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::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, 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, 97.0, 2, -86.0, 89.0, 0.0, nullptr),
ArmSegment(oSerialBus, Vector3d::X, Vector3d::Up, 114.0, 3, -90.0, 90.0, 90.0, 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, -90.0, 90.0, 90.0, 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, -90.0, 90.0, 90.0, nullptr) ArmSegment(oSerialBus, -Vector3d::X, Vector3d::Up, 56.0, 5, -85.0, 87.0, 0.0, nullptr)
} }
{ {
if (!oSerialBus.isOpen()) { if (!oSerialBus.isOpen()) {