How to calibrate the legs automatically
Ginot-Joah opened this issue · 1 comments
Ginot-Joah commented
As using ABI interface on encoders , the leg can only be calibrated to a spectical(actually I put it at) position manually before powering on , or it will keep the position when power is on as its start position and never go to the ideal one . However , the odrive firmware did not have SPI support .
So how to solve it .....
Nate711 commented
We use a physical jig to make sure the legs are in alignment before turning the robot on and letting the ODrives do their encoder offset search.