I'm using the Leg-I-Matic to diagnose a problem with the cycle of movements programmed for a step forward.
I'm using cartesian coordinates for where the foot should be, and converting that to angles for the shoulder and knee servos using inverse kinematics.
Although I can follow along the cycle in the Arduino Serial Monitor, this meant I had to keep taking my eyes off the movement. I needed a better way of keeping a track on the cycle.
Fortunately I have an Adafruit LED Backpack, which I have been able to connect to the Arduino Nano via I2C. This gives me an indication of the step sequence as the leg moves.
Right now I can see that all of the positions are wrong, so there clearly something wrong with my kinematics. I will investigate.
