As I was making code changes, I decided it was hard to see what was going on with Nybble thrashing around on the floor or threatening to leap off the table. So, Nybble now has training safety harness.
Here a motion sequence at lower battery voltage [460 (begin) to 449 (end)]: kbalance, kwk, kbk, kbalance, d
Here the same motion sequence at high (freshly charged) battery voltage [555 (begin) to 548 (end)]: kbalance, kwk, kbk, kbalance, d
Higher battery does give a faster motion but there is not as much difference as I expected.
BTW, these are more or less "normal" conditions where the gyros are enabled and SKIP is disabled in these tests. The skills are unmodified. Video is at 720p (60 fps).
Hi,
The higher voltage makes the servo rotate faster to every target location. But because the main loop is not accelerated, the frame rate remains the same.
You could test some even faster gait and turn on the turbo mode, such as trot and press the turbo button on the IR remote. Since the main loop gets faster, the speed of servo will become the bottleneck. Then you may notice a bigger difference between high/low voltages. Higher voltage will result in a smoother movement.
I also notice that the cat is running with Tower Pro servos. I was only able to get those models when I was in the US. After I returned China, I visited several servo manufacturers and got some customized servos with better PID control. The joints' trembling is significantly reduced now.
I really appreciate your research on these parameters and experiment setups. By thinking and sharing the answers, we can better understand the system. Thank you!