Hi All,
I've got a pair of high end JR 4131 R/C helicopter servos that I've been wanting to use in my robot. They're extremely well made, ball bearings everywhere, high torque and fairly high speed, super smooth and quiet.
But they are so efficient that controlling robot movement is difficult, mainly because after you stop pulsing them, they continue to rotate for some time so the robot shoots way past the point that you'd like it to stop. This has not been a problem using standard Futaba S148 as they have a significant amount of friction in them (I think of it as built in braking).
I am having a difficult time programming in a smooth braking routine. About the only thing I can think of and tried is a decrementing FOR-NEXT loop which brings the servos to a gradual stop.
But this either:
a) takes too long or b) is jerky (not smooth if you decrement to fast)
Is anyone else using ball bearing servos for drive wheels and has solved this problem? Thanks.
-Dave