Yeah, I'm not expecting it to be easy. I won't be needing quite the precision of an industrial arm, thankfully. It would be nice to have, of course, that would allow for more interesting gaits and behaviors in the final hexapod.
Why were you trying to hold a cylinder static under pressure? (Iirc, there are some clever plumbing arrangements which do allow that, though they reduce the total force the cylinder can exert.) I plan on using center-closed or tandem valves, so the cylinders will be locked even when the power is off. I guess that might not work as well with squishy pneumatics?
Rotary is what I'm going to care about in the end. Existing hexapod code is all written for RC servos, so it's setting the angle of the joint directly. As you say, easier to read that anyway. I have an as5040 (http://www.austriamicrosystems.com/eng/Products/Magnetic-Encoders/Rotary-Encoders/AS5040) that I'm testing for the encoder. Cheap, fast, accurate and dust proof -- very important for the target environment. Other than having to solder up way more SMD chips than I would normally chose to deal with (that is, zero) they should work quite well once I get the mounting worked out.
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Why were you trying to hold a cylinder static under pressure? (Iirc, there are some clever plumbing arrangements which do allow that, though they reduce the total force the cylinder can exert.) I plan on using center-closed or tandem valves, so the cylinders will be locked even when the power is off. I guess that might not work as well with squishy pneumatics?
Rotary is what I'm going to care about in the end. Existing hexapod code is all written for RC servos, so it's setting the angle of the joint directly. As you say, easier to read that anyway. I have an as5040 (http://www.austriamicrosystems.com/eng/Products/Magnetic-Encoders/Rotary-Encoders/AS5040) that I'm testing for the encoder. Cheap, fast, accurate and dust proof -- very important for the target environment. Other than having to solder up way more SMD chips than I would normally chose to deal with (that is, zero) they should work quite well once I get the mounting worked out.