Piąta oś ramienia (serwo pochylenia kamery) + firmware RoArm z komendami dla dodatkowego serwa - #2
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Piąta oś ramienia (serwo pochylenia kamery) + firmware RoArm z komendami dla dodatkowego serwa#2Xeross99 wants to merge 1 commit into
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RoArm-M2-S gets an extra ST3215 bus servo behind joint 4 that tilts the camera, so one product placement yields both the top-down and the 3/4 shot. The stock Waveshare firmware only knows servos 11-15, so firmware/roarm_m2_ext_servo/ ships the vendor sketch (wiki 2026-06-30 sources) plus ext_servo.h with commands 130-134 (angle, feedback, torque, safe ID change) and a fix for the ESP-NOW callback signature on arduino-esp32 >= 3.3. Compiled, flashed and verified on the arm. App side: - ROBOT_EXT_SERVO_ID / ROBOT_AXES; poses now carry five angles, stale four-angle entries are skipped with a warning. - robot.py reads/moves axis 5 through the new commands (replies parsed directly from the port under the SDK lock). - Torque release goes through command 132 broadcast: the 2026 firmware parks the arm inside T:210 and hangs while the operator holds it. - Post-move settle: servos stop short under the camera's weight (elbow 4.4 deg, head 7-13 deg, not fixable by P gain); axes are pulled to the target in up to 4 rounds with a per-pose trim, arrival is verified after settling, and saving a pose immediately checks the motors can hold it (axis 4 hard-stops around -107 deg). - Optional two-phase move (lift before turn), off by default. - Settings: "Robot - ujecia" card is now per pose: click a tile, the arm drives there, then the nudge rows, torque and save controls appear. The card is keyed into the settings rebuild so live angles update. - tools/roarm_ext_servo_id.py assigns the servo ID; CP2102N VID added to port autodetection (this board is not CH343). Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01Bsh4jRVfu5sY1TVyPLoD3G
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Co
Ramię RoArm-M2-S dostało piąte serwo (ST3215 na magistrali, za osią 4) pochylające aparat — jedno ustawienie produktu daje ujęcie z góry i skos 45°.
firmware/roarm_m2_ext_servo/): sketch Waveshare (źródła z wiki 2026‑06‑30) +ext_servo.hz komendami130(kąt),131(odczyt),132(moment),134(bezpieczna zmiana ID) i poprawką callbacku ESP‑NOW pod arduino‑esp32 ≥ 3.3. Skompilowane, wgrane i sprawdzone na ramieniu; README z instrukcją krok po kroku.ROBOT_EXT_SERVO_ID(oś 5,0= fabryczne ramię), ujęcia z pięcioma kątami, obsługa osi 5 wrobot.py/webui.py/panelu Ustawień,tools/roarm_ext_servo_id.pydo nadania ID.132broadcast — fabryczne210 cmd:0w tym firmware parkuje ramię i wisi, gdy operator je trzyma._settle): serwa stają przed celem pod ciężarem aparatu (łokieć 4,4°, głowica 7–13°, wzmocnienie P nic nie daje) — osie są dociągane do celu w do 4 rundach z pamiętaną poprawką per ujęcie; zapis ujęcia od razu sprawdza, czy silniki je utrzymają (oś 4 ma twardy koniec ok. −107°).ROBOT_LIFT_FIRST).Test
Na ramieniu z aparatem: firmware odpowiada na 105/131/134/130, serwo dostało ID 16, przejazdy „z góry” ↔ „z boku” kończą z błędem ≤ 1° po dociąganiu (4–6 s), puszczanie/łapanie serw przełącza się natychmiast. Kod Pythona dodatkowo na atrapie portu, karta Ustawień renderowana w node na atrapie stanu.
Wersja
1.7.0.🤖 Generated with Claude Code
https://claude.ai/code/session_01Bsh4jRVfu5sY1TVyPLoD3G