mix bb_so101.calibrate (bb_so101 v0.1.0)

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Calibrates servo range of motion by having the user manually move the arm through its full range while tracking min/max positions for all joints.

Usage

mix bb_so101.calibrate PORT [OPTIONS]

Arguments

  • PORT - Serial port (e.g., /dev/ttyUSB0 or /dev/ttyACM0)

Options

  • --baud-rate, -b - Baud rate (default: 1000000)
  • --dry-run, -n - Show what would be done without writing offsets

Process

  1. Disables torque on ALL servos so you can move the arm freely
  2. Move every joint through its FULL range of motion
  3. The display shows live min/max tracking for each joint
  4. Press Enter when done
  5. Calculates mechanical center for each joint
  6. Sets position_offset so center corresponds to 0 radians

Example

mix bb_so101.calibrate /dev/ttyUSB0
mix bb_so101.calibrate /dev/ttyUSB0 --dry-run