This week's goal was to replace the motors and also continue testing to make sure that the code work. The new motors were expected to arrived on Saturday, June 10th, but they did not arrive until the evening of Monday, June 12th. The old motors were replaced with the new ones on Tuesday. Fortunately enough, it was evident that the previous motors were the problem. After replacing the motors, I focused on the finger movements, although some motor's degree rotation was off, when I opened and closed my hand, the fingers on the robot did the same. Around the third trial of opening and closing the fingers, the thumb motor snapped off of the motor holder.
I decided to just disconnect that specific motor, and continue with the rest of the motors. It was going well, and around the 10th trials, the whole servo holder snapped off. Unfortunately, we did have to go back and reprint that piece.
Although we ran into that roadblock, now that we know the finger function as intended, my attention can now be redirected to the wrist, until the elbow motor comes into play.
After the motor holder was redesigned with added strength, it was reprinted and placed back on the arm. It was brought back for testing of the fingers with the new holder to make sure that it won't snap right off again. All of the fingers were opening and closing as intended, except for the middle finger who's fishing wire got disconnected from the tip of the finger, causing it to not be able to move up and down like the others.
Using the code that was created for the wrist:
The movement was also tested along with the fingers. The neutral position seen in the code is representing when the user has their palm facing the camera. In the Arduino code, it is looking for characters to parse and that will be interpreted as an angle of 0 or 180 degrees, since the human wrist does not rotate 360 degrees.
See the video below for the movement test with the new motors now installed.
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