Instructions Circuit Diagram

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12. CALIBRATION
For a stable walking process a correct calibration procedure is necessary,
which needs to be executed only once. A software calibration is necessary so
we can adjust the servomotors to the middle position with our software.
A hardware calibration also needs to be executed so we can align the legs and
feet in accordance with the middle position of the servomotors
12.1. Software calibration
For a stable walking process a correct calibration procedure is necessary,
which needs to be executed only once. To do so we need the program Hyper-
terminal, for which version 6.3 can be downloaded from the Internet.
Start Hyperterminal. Setup your Hyperterminal program for COM (X),
2400baud, 8-bits, no parity and no hardware control.
Connect the RS232 or USB-adapter to your computer.
TurnYETIaroundwithhisfacetotheoorinordertoallowavisible
contact and infrared data communication between the USB-adapter and
YETI’s rear head.
Switch on the YETI.
Ca. 3 seconds later a series of beeps may be heard.
Now press any key at the PC terminal within 1 second.
The keys listed in table 1 are now available to calibrate the YETI.
Start by pressing [-]. Both servos will move to their electrical zero
position. Now adjust the “fore”-servo-arm to a crosswise position.
Adjust the arm as exactly as possible without altering the servos shaft posi-
tion. Adjust the “fore”-servo to an exact crosswise position by pressing keys [7]
and [9].
Press key [1] to calibrate the system for this position.
As a testing procedure move the servo to another position by pressing key [7]
or [9] and press key [8] to return the servo to the previously calibrated mecha-
nical zero position.
SEE. APPENDIX J for more information