Working on IK System & Resoldered Joints Again

Bruh so my robot arm after finally being assembled by the way exceeded it’s limits and tore its wires out. I had to take apart the mainboard assembly again, which just is SO TEDIOUS. I just dumped solder and hot glue again and fixed a short caused from another wire being sheared off.

Also I’m working on the IK system, but it’s not really going well right now. I need to add offsets and config to each of the motors to get them to work correctly. The motors hooked up right now started crashing into my table sadly. Hopefully it will work soon.

I also continued working on the servo case. I still haven’t added the code to calibrate and get closed loop control on the MG996R servos. The DS5180 encoders should be easier though.