Here's a video tutorial to create a JUnit test to validate that a service is working as expected. It also shows some simple debugging to set a break point and to step through the code.
The below article is a work in progress, it talks a bit about InMoov and MRL at a higher level, but it does have some commentary about reworking the HS 805 BB servo for continious operation and extracting the potentiometer.
I've been re-wiring my InMoov(s) here with the Nervo board from Gael. Here's a couple photos that are showing some of the progress. I've been very happy with how easy they were to assemble, and the make the wiring much cleaner that what I had before.
Here's an update on my progress with the InMoov arm Inverse Kinematics.
Ok, there's a lot of stuff going on here, so I'll do my best to break it down and provide some background.
Here's a quick demo. I have added joystick input support to the InverseKinematics service. It seems to be doing what I want it to.. enjoy!
Leap Motion -> Translate / Rotate -> Inverse Kinematics -> publish joint angles -> InMoovArm -> gain + phase shift of angles -> Servo Woo Hoo .... End to end functionality.
Leap Motion + Inverse Kinematics + WebGUI !
Initially, I am interested in tracking the position of the hand in the frame so I want to start getting a sense of the x,y,z range reading.