With the default webotlib the servo values have a range of -127 to 127 and the data type of DRIVE_SPEED is 8 bits in size. It will be interesting to see if the that will give enough resolution to make it fluid (probably will)
Your typical 180 degree servo will have a resolution of around 90. 8 bits will give you a resolution of 256 - much higher than your servos can do.
I find the 8 bit resolution more than fine for my bots
You aren't the first to ask me to add a time between each gait position. There are several reasons I didn't do it:
- It doubles the array size of your gait array
- Complicates gait programming (not only angle must be right, but now timing too)
- Just because you tell the servo to do something, doesn't mean it will
- For a robot, you don't care that the knee joint traveled 20 deg in 213 ms, only that it walks
- Same for robot arm, you only care about end effector motion
In Biped Engine v3, there are two modes. In single position mode, meaning the robot goes from one position to another, you can control the time between. For full engine mode (which v2 also has), meaning it goes through a whole set of motions, you control timing when you program each position in.