Joints

Dexter's hardware has 5 joints in the base model, and the v2 Tool Interface adds 2 more for a total of 7. Each FPGA measured joint has an encoder.

#	FPGA	Connector	Human / Description	Slots	Eye Rotation*
1	1	Base	Roll. Shoulder rotate (vertical)	200	Counter
2	3**	Pivot	Pitch. Shoulder lift	180	Counter
3	2	End	Pitch. Elbow. Pwr set R65/66	157	Counter
4	4	Angle	Pitch. DiffA1 Differential with 5	115	Counter
5	5	Rotate	Yaw. DIffA2 4 and 5 make the wrist	100	Clockwise
6	6	External	(not used, could be extrude)
6	n/a	J20 bottom pin	Rotate Dynamixel	n/a	n/a
7	n/a	J20 bottom pin	Gripper Dynamixel	n/a	n/a

* The direction of the rotation of the eye for Joint 5 is the opposite of the others.
** Development of the FPGA code started in the middle and so the numbering of the joints is not consistent. Specifically, when reading (or writing) the AdcCenters.txt file from the share folder, the 2nd and 4th, and 3rd and 5th, lines must be swapped

Status data for each of the joints is returned via the 'g' command oplet and automatically after most commands.