Calibration

Now that the arm and chassis are built, we need to calibrate the motors and servos to ensure that they react in the correct way to the commands from the web application. In the case of the servos, do not attempt to move them too far as this will cause damage to them or other parts of the robotic arm.

Chassis motors

Firstly, we will ensure that the chassis motors behave correctly. This is simply a case of running the motors in each of their directions to ensure that the chassis moves in the direction intended.

When running in forward or reverse motion, if one motor is running in the wrong direction, this can be corrected by swapping the polarity of the motor. You can swap the polarity by swapping the connections on the two wires leading to it from the relay board.

When the motor runs in the clockwise or counter clockwise rotation, if the base rotates in the wrong direction, then both motors need to have their polarity swapped.

Arm 2 and hand servos

Since these two servos operate independently...