Robot using Duet 3 MB6HC + 6 stepper motors [need advice]
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Hi everyone!
I am new to this community and need some advice.
The goal:
- To build a hexapod robot.
What I have / am using:
- Duet 3 MB6HC + Raspberry Pi.
- 6 stepper motors and other bits and bobs.
- The algorithms to position, optimize, etc. I can worry about implementing them once I figure out how to "talk" to the stepper motors via the Raspberry-Pi enabled Duet 3 mainboard.
What I need advice on:
- The best way to talk to the board to move the stepper motors. I would really like to take advantage of the 300MHz processor and the on-board stepper drivers to get this job done.
- I am open to ideas, even if they include the design and development of my own software and ui, but first, I would like to know how I can implement a script let's say, to get some motion!
Your help is greatly appreciated. Looking forward to learning from you, and hopefully I can return the favor to the community the more familiar I become with the Duet 3 mainboard! Cheers.
PS I placed this post under the "Using Duet Controllers" category. If anyone thinks I should place it under a different category please let me know. Thank you.
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@eminus you can do the following:
- In the config.g file, use the M584 command to configure 6 axes, one for each motor. I suggest you use X Y Z U V W.
- Implement some sort of homing mechanism so that you can move each joint to a known position. You can use microswitches, optical or Hall sensors, or (if the mechanics is tough enough) motor stall detection.
- After homing all 6 joints, send G1 commands to the Duet from the Pi to control the joints.
