How to calibrate the motor

In order to use the motors for pib´  s movement it is important to calibrate them before building them into pib.

Pib has two different motors build in, in total 15. They can all be calibrated in the same way.

For this tutorial you will need the shown parts from the table (see below)

Additionally, we suggest to first build pib´  s head and install the software to the Raspberry Pi as you will need to use this for the calibration.

You can find the tutorials here:

https://pib.rocks/build/how-to-build-pibs-head/

https://pib.rocks/build/how-to-install-raspberry-pi/

Start

Step 1a

Step 1a

Cut the output barrel of the power supply E14 as shown in the pictures.
Strip the ends of powersupply output wire to ensure the inside copper windings can be seen.

Step 1b

Step 1b

Pull the red and blue switches in E13 (T-Connector), insert wires and then close them.
Make sure to place the wires in the correct switches:
– Red wire to red switch
– Black wire to blue switch

Step 2

Step 2

Connect the black-red output cable from the head (coming out of the TinkerForge HAT) and connect it to E13 (T-Connector).

Make sure to place the wires in the correct switches:
– Red wire to red switch
– Black wire to blue switch

Step 3a

Step 3a

Cut 10 cm of the red-black power cable and insert them to the E03 TinkerForge ServoBricklet.

Step 3b

Step 3b

Now you can insert the cables to the T-Connector.

Step 4

Step 4

Now, we can connect the motors to the ServoBricklet.
You can add 10 motors at the same time – there are 10 slots for motors on the ServoBricklet.

Step 4

Step 4

Step 5

Step 5

Connect the bricklet cable to the TinkerForge HAT in the head and then to the
TinkerForge ServoBricklet.

Step 6

Step 6

Plug the power cable into the power supply and start Ubuntu.
Open the Brick viewer application.

Step 7

Step 7

Click „Connect“ and navigate to the tab „Servo Bricklet 2.0“

Step 8

Step 8

Select „All Servos“ and change the values as shown.
Other values are not important and do not need to be changed.

Final

Congratulations

You did a great job, the motors are calibrated.
Remove the calibrated motors, connect the remaining motors and repeat step 6-8.

Once finished, you can disassemble everything as you will need the T-Connector, bricklet cable, motors and so on in the other tutorials.