Good news and bad news.

Bad news is that this session was supposed to be a recovery log for the 4 hour lapse lookout accidentally deleted, except somehow the recording failed again.

Good news is that instead of waiting on that fix, I’ve kept working, and we’ve made some huge progress. The wrist design you saw last session was pretty neat, except when I finally got access to the hand to screw it on, I realized my screw tolerances were not enough. And worse that caused the screw to drag across the bearing of the wrist leaving that screeching sound, when a chalkboard is scratched.

So I fixed the finicky piece and reprinted it. In the meanwhile, I put together the electronics for the hand, and added the code I’d developed last night. After renumbering the pins, and messing around with stepper speed, I’ve finally gotten to a decent teleoperation phase with the wrist. It’s quite slow, but it works.

The only thing that concerns me, is that when I ask the stepper to move to a position to quickly, I hear a peep, then the fingers don’t move. Most likely somewhere downstream, overcurrent is preventing the stepper from drawing too much torque. This makes sense given how shoddy the wiring is…

Anyways, I’m about to rerecord the alphabet with my new wrist, and hopefully get the full demo working with wrist by next session. I will then hopefully, record a successful recovery session for my precious 4 hours of work ;(

That’s all for now folks…