The wiring on Robbie
has always been a problem and a big source of unreliability, the
other issue was the I2C network not being able to put the motor
drivers on the motor made the wiring a mess. The L298n motor drivers
were bit under powered and standard servos in some of the joint it
time for a rethink. I replace the I2C network with RS485 now the
drivers are on the motors and the cables use JST XH connectors which
makes for cleaner wiring VNH2SP30 and the TB6612FNG dual motor
driver have replaced the servo drivers and the L298n. I replace the
control board in the servo and used a magnetic encoder with the
TB6612FNG but used the gearing this saved a lot of work redesigning
the joint. The new network is working and the joint signal stability
is better that before.
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| Before |
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| After |
