In this lesson, we will demonstrate how to create a servo profile for your JD from a PC using EZ-Builder.
The Servo Profile creates offsets for each servo to compensate for physical limitations of motors and gearing alignments.
We will use the Servo Fine Tune utility to create a profile that matches your JD's configuration. The only time you will need to repeat this process is if you disassemble JD or relocate the servos to different places on the robot's body.
Before You Begin
*Important: If a servo requires more than 10 degrees of fine tune, this means the servo must be manually re-aligned. If you find a servo requires more than 10 degrees of alignment, view the complete JD tutorial and locate the Servo Calibration section by clicking HERE.
Servo Fine Tune Video
In the video below, we will demonstrate a few steps of this exercise by calibrating JD's arm servos. The video does not cover the entire calibration process, as the process should quite clear of the exercise.
What You Will Need
- An assembled and connected JD with charged battery
- A PC with latest EZ-Builder Installed
Connect EZ-Builder to your JD. Press PROJECT from the top menu. Now press CONFIGURE under the Servo Profile section.
The Fine Tune Servo Profile utility will be displayed. Here you have a model of your robot and buttons located around the joints. These buttons have - and +, which allows you to SUBTRACT or ADD positions to move the servos into alignment. In the next steps, you will press the - and + buttons on each joint to align the servos. Once you have completed the alignment, you will be instructed to save this servo profile so you never have to do this process again (unless you disassemble and reassemble JD).
*Note: If you disassemble and reassemble JD, you will be using servos in different places on the robot. By doing so, you will have to redo his step.
When JD is first connected, he will move into the calibration mode. Stand up JD on a flat surface.
Press the + and - buttons on JD's ankle servos to adjust the ankles until the feet are parallel/flat with the surface.
Now use the + and - buttons to align the knee lever to be parallel with the servo housing. This is the 90 degree position, similar to the process when calibrating the servos manually. However, this time you are fine tuning to be more precise.
Use the + and - buttons to align the Upper Leg servo to be parallel with the servo housing. This is the 90 degree position, similar to the process when calibrating the servos manually.
Use the + and - buttons to align the arm elbow lever servos to be parallel with their servo housing. This is the 90 degree position.
Use the + and - buttons to rotate and align the shoulder lever servos to be parallel with JD's Body. This is the 90 degree position.
Use the + and - buttons to align the vertical neck servo to be 90 degree upright from JD's Body. This is the 90 degree position.
We will now save the Servo Profile that you have created for JD. Press the SAVE button and the Save File dialog will appear. Enter a descriptive file name for this Servo Profile. (such as "JD Alignment")
*Note: Now that you have created and saved a Servo Profile for JD, you will be asked to select the profile every time you load any JD project. The only time you would need to create a new Servo Profile is if you disassemble JD.
Continue to Next lesson
Advance to the next lesson - you are almost ready to having JD doing awesome stuff!