I've been thinking about how to make the arm training more accessable, would it be possible to add the following idea to the software?
A software toggle to enable training mode, this will start a record function.
Then while in training mode the holding torque is reduced, to just enough to hold the weight of the joints stactic, if the joint starts to move and sensed by the encoader, then more holding torque is applied, and the joint is returned to its inital point. (may not be required)
On the robot arm an external momentary button can be added, this is wired to one of the spare teensey inputs
While the momentry button is depressed, the steppers are allowed to skip steps, by the user manipulating the arm by hand, this is to move the arm to the desired posistion, the encoder steps are recorded.
The momentray button is released, and the holding torque is applied, at the new encoder posistion.
That movement line is added to the software, and the next line is waiting for the user to press the record button.
I'm not sure if I've made my thoughts clear enough, but hope it gives an idea of what could be done.
What if the software see's the new encoder position, by applying load or slip to the joint (while a "training mode" button is pressed) and increments the motor by that inducd slip value.
This will effectively manually jog the joint / arm.
Would that work?