Servo node

Description

This node provides functionality for each servo:

• Servo shaft angle rotation in radians by sending corresponding messages
• Adjusting calibration by writing corresponding parameters

Messages

ServoState.msg:

• servo_index - Index of servo to rotate, which determined by joint indexing in kinematic scheme
• rotate_angle - Shaft angle rotation in radians, which values determined by calibration

Parameters

Each servo has the following list of parameters grouped by servo index:

• first_point_angle - First calibration point in radians
• first_point_percentage - First calibration point in percentage of signal strength
• lower_limit_percentage - Minimum in percentage of signal strength to prevent servo overloading
• second_point_angle - Second calibration point in radians
• second_point_percentage - Second calibration point in percentage of signal strength
• upper_limit_percentage - Maximum in percentage of signal strength to prevent servo overloading

These parameters is required to build linear calibration determines relationship between servo signal strength in percentage and its angle in radians for each servo