NEW Penguin Code - Automatic Servo Calibrator

Humanoido

When running motion control programs, a finely tuned
Penguin Robot has the best performance. Servo motor calibration
is very important and a prerequisite to running any program.
Additionally, it's important to maintain good calibrated values
to keep servo startup movements within range and minimize
servo wear. This program is an Automatic Servo Calibrator.
Details are listed below with a link for download.

humanoido

[i]' This program calibrates Penguins' tilt and stride. It has many
' automatic functions which make it easy to use. The user simply
' makes a selection of 1 or 2, and watches the result.
'
' Calibration move increments are large enough to make a difference
' and get fast results, yet ranged perfect to fine tune and achieve
' an excellent center value.
'
' It maintains safe within-range values of tilt and stride at all
' times, and prevents out of range conditions. Even if Penguin was
' not previously calibrated, or if Penguin has improper out of
' range values in memory, this program will fix it.
'
' Functions at a glance are listed below.
'
' 1) Write default tilt and stride center values to memory
' 2) Move Penguin to default values
' 3) Do tilt calibration   (1 = reduce  2 = increase  0 = end)*
' 4) Do stride calibration (1 = reduce  2 = increase  0 = end)*
' 5) Save new calibrated values to memory
' 6) Perform a Loop Test
'
' The Loop Test keeps servos on continuously and homed for visual
' inspection of tilt & stride center values. Without the Loop Test,
' servos will switch off and will freely move by hand.
'
' Conventions (All conventions are from Penguin perspective)*
'
'  Tilt   - Reduce    - Tilt onto right foot
'           Increase  - Tilt onto left foot
'  Stride - Reduce    -  Moves right foot forward
'           Increase  - Moves left foot forward
'
' During calibration, if the end of range is detected, an error will
' immediately result and the servo will be reset to a default
' value, whereupon the user can recalibrate. An error should not
' occur however, as the calibrated values are always are very close
' to the default values. This is another built in safety feature.
'
' Center values are stored on page 7 of memory at location 21. This
' is compatible with Penguin-ServoCalibration.bpx and other programs
' in the penguin_ suite. Default center servo values are at 1875.[/i]