Eliminate double rounding-errors

[aquila12]

Currently, output from the IK is in radians (as a float). This is converted into degrees (as an integer), and later into microseconds (also as an integer). The second conversion is done within the servo library itself, which also exposes a writeMicroseconds method.

Some rounding error could be eliminated by directly converting from radians into microseconds, and omitting the second conversion (and the intermediate, granular, degree measurement).

[lexbailey]

Would switching to this require a recalibration for a given working arm?

[aquila12]

No; well, sort of - for a given set of existing cal values, we could
convert them (and provide helpers for that).

It might be worth creating an example sketch for calibration - disabling
all servos to start with, and setting each in turn to set it up properly.

On 11 December 2015 at 18:39, Daniel Bailey [email protected]
wrote:

Would switching to this require a recalibration for a given working arm?

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