I am using 2XL-430 servos (from engineering kit) and am building the upper body (just head ATM) of humanoid robot that is interactive with people. It uses AI to recognize people and Natural Language Processing to hold conversions with people all running an a Jetson Xaiver NX.
The 2XL-430 servo is in the heck joint that moves the head (move servos will be added for arms later).
I want to be able to control the speed that the servos move. I use the Goal position register (116) to set the position I want ti to travel to. I have tried changing the value in the Goal velocity register (112) but it doesn’t seem to change the speed of the servo. I have found that changing the value in the Goal PWM register (100) it does change the speed. I assume the Goal PWM doesn’t set a regulated speed but rather just sets the goal amount of power sent to the motor. Is there a way to set regulated goal speed rather than a goal power??