Calibrate the PiCrawler¶
Due to possible deviations during PiCrawler installation or limitations of the servos themselves, some servo angles may be slightly tilted, so you can calibrate them.
Of course you can skip this chapter if you think the assembly is perfect and doesn’t require calibration.
The specific steps are as follows:
Take out the assembly leaflet, turn it to the last page, and lay it flat on the table. Then place the PiCrawler as shown below, aligning its bottom with the outline on the calibration chart.
Run the
calibration.py
.cd /home/pi/picrawler/examples/calibration sudo python3 calibration.py
After running the above code, you will see the following interface displayed in the terminal.
Press
2
and3
keys respectively to choose left 2 legs,then pressw
,a
,s
,d
,r
, andf
keys to move them to the calibration point.Now, change the calibration paper to the right and press the
1
and4
keys to choose right 2 legs, then pressw
,a
,s
,d
,r
, andf
keys to move them to the calibration point.After the calibration is completed, press the
space
key to save, you will be prompted to enterY
to confirm, and thenctrl+c
to exit the program to complete the calibration.