LOG 4: Trying to get Momo to move

Not walking yet. Kind of moving, but not really.

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First Attempts

Spent this one just trying to get the legs doing something coordinated. Wrote the first version of the movement code and it was rough. Legs firing in the wrong order feet lifting when they should be planted, the whole thing basically flailing in place instead of going anywhere.

Realised pretty fast that with only 2 servos per leg I can’t do a proper trot, so it has to be a static crawl. One leg moves at a time while three stay planted. Sounds simple until you’re actually working out the timing and the angles for each joint at each stage of a step.

Went through a lot of iterations and none of them really worked yet.

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Printing and Testing Legs

Printed a bunch of different leg designs. Different lengths, different shapes, different joint positions. Kept testing to see which geometry would even let the feet land where the code expects them to, because if it’s off the whole thing just drags itself sideways instead of stepping.

A lot of print, test, adjust, print again.

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Where It’s At

It moves but it doesn’t walk. Legs go through the motions and the body barely goes anywhere. Still figuring out the timing.

Nothing is assembled properly either, components are just sitting in there loose for now while I work this out.

Next log is hopefully actual walking.