//Geometry
float handle_rad = 1.75; // end effector
float base_rad = 1.75; // base
float pushrod_lng = 3.5;
float pivot_lng = 2.25;
//Configuration
float deadzone = 0.1; // smaller values will be set to 0
int gain = 150;
pinMode(2, INPUT);
pinMode(3, INPUT);
pinMode(4, INPUT);
digitalWrite(2,HIGH);
digitalWrite(3,HIGH);
digitalWrite(4,HIGH);
xZero = 0;
yZero = 0;
zZero = zValue;
zdayton wrote:The way the code is set up, the z axis zero point is wherever the z axis is when you first plug it in. What I do is this: rest my hand on the handle, not actively pressing down or up just resting my hand on the handle so the springs balance against the weight of my hand, then plug it in.
Also, I recommend sticking it down with some double sided tape, or maybe glue a nice rubbery material to the base to hold it in place. Or just use clamps like you have.
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