4 ms·

It looks amazing! How is actuator travel distance which compensates differences between the heights of the chess pieces implemented?

• joey_meyer 10y ago
  It's hard-coded at the moment. I just measured the height of each piece and stored the values.
  • mentos 10y ago
    To me it looked like the clearance height was the same for all pieces. Is it actually dynamically calculated for each move?
    • joey_meyer 10y ago
      Ah yes clearance height is the same for all pieces, the servo raises the piece to the piece height + the "resting" height. Relevant code can be found here: https://github.com/joeymeyer/raspberryturk/blob/master/raspberryturk/embedded/motion/gripper.py#L54 https://github.com/joeymeyer/raspberryturk/blob/master/raspb...