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Today Shadow Bot went back in storage. The ministry here at the Ft. Myers Rescue Mission is demanding my full attention so we must lay aside some things. Thank you to erco! You were one of my first mentors back in the basic stamp days, along with my son, oldbitcollector, for all your...

Having short names also would make the code look less cluttered!

The two shoulder motors are a matched pair of power window regulators, but the Elbow is powered by a Hitachi 12 volt drill motor. The feedback pot on the Elbow only moves 90 degrees between it's endstops having values between 60 and 110. A suggestion in another thread was to use READAC10.

YES!!! FIXED IT!! Both pots can be adjusted individually or simultaneously. Tracking NICE! Also removed the old_feedback_values and the sertxd command. We will need code later to calibrate Motor 3 ENDSTOPS. Now ready to incorporate Alan's short Symbols. 'Shadow-Bot feedback control code with...

Shave and a haircut Two BITS! Sorry I couldn't resist🤣

When one desired pot is changed, both axis move!

Alan thanks so much for the trim and hair cut. Please take the beard off to! Foggy brain today. Will be back later. Gramps.

Well said!

We combined code for motor #1 and motor #2!! The model is working in two axis now but desired pots 1 & 2 are interfering with each other. UGH BUGS! Code below: Note; Rich=code, i mean code=rich! was more then 10k! Good nite!!:sleep: 'Shadow-Bot feedback control code with two Motors 'Note...

OK Thanks Yup! 2 is prefect. We are running CREEP at 160 and it's working nicely. Thanks for these numbers! Using 16 is working ok. We will experiment with them later. Another good tip. Thanks! Yes that's what we did. Working great. The "novice" way of slowing down the serial terminal...

We increased the MAXPWMVALUE by 100 to= 499 then divided 499 by 12= 41, so we changed loopgain to 41. Now the desied/feedback pot stops equal or one number different. Raised the deadzone from 2 to 5 by increments of 1. Now the arm is stopping on the correct numbers without dithering. However we...

Yes, good idea! Okay. Here is Alan's beautiful cleaned up code. Edit: We tried pasting to get the colors to paste by using "copy for forum" but the names of the colors pasted instead of the actual colors. Looking for Alan's instructions in the thread how to "get Desired and Feedback to match...

Endstop at high end.

Endstop at the low end.

Stopped at a midpoint.

The code was not working earlier because "goto main" was lost when cutting and pasting. Code is up and running!:) Observations: The motor now has a high pitched whine. (which is kind of cool) Motor is peppier. Creep is working correctly! ENDSTOPs are working well!

Yes, the colors would really help when changing lines in a post to draw attention to it. Thanks for that tip!

How to determine which are the "unique variables"??

What a journey this has been! Ready now to triple the code for three motors.

To get the motor controller to completely turn off after the motor stops we have to set the DEADZONE to 6.