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How often do steppers "miss steps"? Does it only happen near stall torque?
So by removing the pot, we still input PWM but the output ceases to be angle and we are instead given speed. Is this assumption right?
So to calculate number of rotations traveled by a hacked servo, would we do: ((average voltage from PWM) / (max input voltage of servo)) * rps * seconds
Can anyone recommend a good place for me to buy such wheels?
no . . . there is no good way to calculate it. The velocity is affected by external torque, and average PWM voltage doesn't matter (wavelength does).
You should read this article to better understand what happens inside the servo:http://www.seattlerobotics.org/encoder/200009/S3003C.htmlAlso, this article shows a modification on the servo board to have a better speed response from PWM signal. Beware there are cheaper servos out there that have a poor schematic and nothig can be done to have speed controll on them. Perhaps just use the motor and gearbox and replace the electronics with a H bridge.In my opinion, the best continuous rotation servos would have a tiny MCU driving an H bridge and a quadrature encoder integrated. A serial connection would be needed to controll the motor and read the encoder. This is exactly what the Dynamixel servos do and more.
Also, if my motors can pull more amps than my batteries can supply, will the motor simply refuse to go more, or will the batteries do something bad, like explode?
My googling seems to tell me that I slide the hub on and then use the key to lock it on - is that right?