PLEN Playground - Forum

Sembot

Member

From: Belgium

Registered: 2015-10-06

Posts: 4

Plen2 with 9g servos

Hai,
I really love beautiful design of robot Plen2
I want to print a self Plen2 with my Prusa I3 and want to use 9g servos, the stl files I have found through Plenza
https://github.com/BinarySpace-Hackerspace/plenza
But I think all stl files are not present
I have two vraagjes
1; which pins are used by the Arduino Mega for intput and output, where can I find such data
2; how you connect the arm to the hand (system of 9g servos ) i find not a piece for do that

Kind regards

PLEN Project Committee

Administrator

From: Osaka / Japan

Registered: 2015-08-31

Posts: 9

Website

Re: Plen2 with 9g servos

Hi, Sembot.

Firstly sorry to say we moved the category of this topic, but we thought more accurate that there is the post in this category.

1; We have confused why they are using Arduino Mega. (We are using Atmega32u4, it's not Arduino Mega.)
However, it's easy that you are porting Atmega32u4's firmware to Arduino Mega (Atmega2560).

Please connect servos through 3bit multiplexer x3, and signal sauce lines connect to Digital pin 11, Digital pin 12, and Digital pin 13.
Bit-select pins connect to any Digital pin x3 you choose. (You must modify Pin.h, s.a. : https://github.com/plenproject/plen__fi … ware/Pin.h)

2; In that repository, some *.stl are merged we think, so you have got everything you need.

Sembot

Member

From: Belgium

Registered: 2015-10-06

Posts: 4

Re: Plen2 with 9g servos

Hai ,

Thanks for the quick reply

But I wondered what pins are used for :
left hand, which pin is for the right hand, which pin is for the foot, etc.

Sorry for my bad englisch

Kind regards

Guvalif

Moderator

From: Osaka / Japan

Registered: 2015-08-31

Posts: 135

Website

Re: Plen2 with 9g servos

OK, we provide more hints :)

Please check following links.
- http://plen.jp/playground/wiki/specific … assignment
  (Please pay attention to the table on the page below, and get the relation between joint name and index (new).)
- https://github.com/plenproject/plen__fi … pp#L30-L32

It's easy we say the all answer, but you might as well have joined the open-source project, so let you think about this ;)

Guvalif

Moderator

From: Osaka / Japan

Registered: 2015-08-31

Posts: 135

Website

Re: Plen2 with 9g servos

Hi guys!

As a known issue, PLEN's control board cannot control some servo motors.
It happens because each PWM line has 2 registers and these make HIGH level voltage as 2.5V.

If you want to use the all servo motors which satisfy HIGH level voltage as 3.3V or above,
you need to short R14 to R37 with soldering.

Have a nice hack!