I have just begun assembling two Thor arms for our lab. For our use-case we decided to go with MG 996R servos, instead of the standard MG 995 ones as they are much beefier.
These servos are also more precise and therefor need a different/wider range of PWM values to be controlled. However, the slider in the UI outputs values, that are completely out of range. The servo needs values between around 550-1000, instead of 0-255 for the Thor gripper to work at all.
For now my work-around is to change line 421 in asgard.py to message="M3 S" + str(((450/100)*self.SpinBoxGripper.value())+550).
It would be really cool to be able to configure the range through to UI, though. That might also help with other custom hand-attachments.
I have just begun assembling two Thor arms for our lab. For our use-case we decided to go with MG 996R servos, instead of the standard MG 995 ones as they are much beefier.
These servos are also more precise and therefor need a different/wider range of PWM values to be controlled. However, the slider in the UI outputs values, that are completely out of range. The servo needs values between around 550-1000, instead of 0-255 for the Thor gripper to work at all.
For now my work-around is to change line 421 in asgard.py to
message="M3 S" + str(((450/100)*self.SpinBoxGripper.value())+550).It would be really cool to be able to configure the range through to UI, though. That might also help with other custom hand-attachments.