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12. Preparing the leg servos for installation
Before you install the leg servos, you must move them to the centre position. This means moving the servos to the mechanical middle position using the Hexa-
pod Robot Board and the "ServoCenter" program. This is the starting position for assembly.
First unpack all 18 servos; then straighten all connecting cables.
Pin assignment:
Labelling in Figure 15
Function
P
Control pulse
+
Positive pole/+
-
Negative pole/-
To set the leg servos, transfer the "ServoCenter" programme (located in the "Locomo-
tion" directory) to the Hexapod Robot Board. The programme automatically moves the
servos from "S0" to "S17" to the middle position.
Connect the servos to the pin headers as shown in the figure (pay attention to the
polarity!). All servo connections (S0 to S17) of the robot board are controlled with a
pulse width of 1500 μs.
At this point you do not have to connect all 18 servos to the Hexapod Robot Board at
the same time. In practice, it has proven to be much easier and faster to use only one
connection (e.g., S0) and then move one servo after the other to the middle position.
The brown wire of the servo cable points to the edge of the board. The board is also
labelled SIG (pulse), BAT+ (+), GND (-).
The battery must be connected for this procedure!
Imprints on PCB
SIG
BAT
GND
Figure 15
Figure 16
15
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