This week I soldered most of the arm wiring, and connected it up to an Arduino controller. I tested the voltage feedback for each component. The 360 angle sensors were more like 180 so I had to account for dead space in the actuator movement. It took many iterations of Arduino to get the angles dialed to have each actuator have an accurate 0 – 180 measurement. I then wired the motors for t1 an t2. I had to get the direction of rotation and limit switches right through flipping wires. I was able to get t1 and t2 to run specific angle moves with feedback. I then wired the vacuum and got the robot to do a box pick up move.
