Eliminate double rounding-errors
Opened this issue · 2 comments
Currently, output from the IK is in radians (as a float). This is converted into degrees (as an integer), and later into microseconds (also as an integer). The second conversion is done within the servo library itself, which also exposes a writeMicroseconds method.
Some rounding error could be eliminated by directly converting from radians into microseconds, and omitting the second conversion (and the intermediate, granular, degree measurement).
Would switching to this require a recalibration for a given working arm?
No; well, sort of - for a given set of existing cal values, we could
convert them (and provide helpers for that).
It might be worth creating an example sketch for calibration - disabling
all servos to start with, and setting each in turn to set it up properly.
On 11 December 2015 at 18:39, Daniel Bailey notifications@github.com
wrote:
Would switching to this require a recalibration for a given working arm?
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#4 (comment).