I’m using a combination of XC/XL330 servos (v50 firmware) for a robot with two arms, I’m trying to configure a compliant mode so that I can manually move the arms around to record positions.
At the minute I’m setting the servos to current position mode and changing the goal current on each to a value where it can support itself. In my code I set the mode fine, the arms hold position as expected. If I try to backdrive them by hand, they move with some resistance and then move back, also as expected.
I’ve tried to have a loop that gets the current position and then sets it to the same value, hoping that this would have the robot maintain position, but it slowly drifts down with gravity.
This feels like it should be a fairly common usecase for these servos in robot arms, can anyone point me towards an example or give some tips to get this working please?