Calb algs
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key EC30_MILE_AT_ZERO_Axxxx_ANGLE
This calibration has the motor leads open and the "robot" is driven to the zero angle by the calb stand motor.
- move "robot" from random inital position to the nominal zero angle position
- allow to settle and record the MILE encoder value
- repeat several times
- the average MILE encoder reading is assigned to the above key.
key EC30_MILE_AT_ZERO_MOTOR_ANGLE
Motor needs to be on the bench (outside of robot), power supply is ~24V
- Enter mode 2 with moderate voltage (special command 1115 1000 0 2)
- allow motor to settle and record MILE encoder value
- move motor slighly and repeat
- there *should* be two stable position and two clusters of MILE encoder values (separated by 1024)
- use the smaller of the two numbers for the key
