I have more fingers now.

Last session we left off, with another redesign of the finger after multiple prototype iterations. Well, this session was more of that, but I’ve finally arrived at a finger that is decent enough to work with. I added bearing, made it more friendly to wiring, and tuned tolerances, enough to not have to use glue! Given this, I’ve printed out 4 fingers only to realize that the base of each finger needs a wire peek through hole, so I’ll be redesigning and printing those I guess ;(

Besides that, this session I worked on physically assembling the fingers, which is more tedious than it sounds. I had to solder some breadboard cables and shrik wrap stuff, to use my motors with the standard pins. I also needed to solder wires to the encoder. So, after this I should technically have access to enough pins to program the finger, which is what the alst 3 hours of this session were dedicated to.

Normally, when I write code it tends to be “assisted”, but in this case I was really curious to learn the code. So I also choose the path of greater resistance by choosing to code the ESP32 in C++ through ESP-IDF rather than Thonny or Arudino IDE, like usual. It’s okay, I’ve learned a lot, and I’m only halfway through the script.

Anyways, that’s all for now folks…