To be able to complete this step, You should have already installed the software, as described in previous step. If You have not done so, You can omit the described adjusting, but will be forced to do some reassembly later.
Before attaching load to servo arms, it is necessary to bring the servo motors in some definite positions. To accomplish that,
take 4 servos and mark them: "Lift servo", "Catch servo", "Rotate servo", and "Block servo". Connect servos' power connectors to the red connectors of the
ML-R Distribution Pins, 5x 3.3V + 5x 5V (mrm-distrib-f). Connect the third wire of each servo to
MRMS ESP32: Arduino, IMU, eFuse, BT, WiFi, CAN Bus (mrm-esp32) like this:
- Lift servo - pin 18
- Catch servo - pin 19
- Rotate servo - pin 17
- Block servo - pin 16
You can either read small print on
MRMS ESP32: Arduino, IMU, eFuse, BT, WiFi, CAN Bus (mrm-esp32) or consult board's page (klick on the previous link).
Locate mrm-robot-line.cpp program and change loop() function so that it looks like this:
void RobotLine::loop() {
armCatch();
delayMs(1000);
actionEnd();
}
Compile MRMS_ESP32.ino program and run it. Choose "any" in menu. The servos must move. If so, power the robot off and continue assembly with the servos that are now in "catch" position (arm down, ball enclosed).